Galil DMC-2X00 user manual Absolute Position, Velocity Control

The position error, which is the difference between the commanded position and the actual position can be interrogated with the instruction TE.

Instruction	Interpretation
TE	Tell error – all axes
TE A	Tell error – A axis only
TE B	Tell error – B axis only
TE C	Tell error – C axis only
TE D	Tell error – D axis only

Absolute Position

Objective: Command motion by specifying the absolute position.

Instruction	Interpretation
DP 0,2000	Define the current positions of A,B as 0 and 2000
PA 7000,4000	Sets the desired absolute positions
BG A	Start A motion
BG B	Start B motion
After both motions are complete, the A and B axes can be command back to zero:
PA 0,0	Move to 0,0
BG AB	Start both motions

Velocity Control

Objective: Drive the A and B motors at specified speeds.

Instruction	Interpretation
JG 10000,-20000	Set Jog Speeds and Directions
AC 100000, 40000	Set accelerations
DC 50000,50000	Set decelerations
BG AB	Start motion
after a few seconds, command:
JG -40000	New A speed and Direction
TV A	Returns A speed
and then
JG ,20000	New B speed
TV B	Returns B speed

These cause velocity changes including direction reversal. The motion can be stopped with the instruction

ST Stop

DMC-2X00 Chapter 2 Getting Started y 33