Galil DMC-2X00 Operation Under Torque Limit, Interrogation, Operation in the Buffer Mode, Kp?

Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.

Instruction Interpretation

TL 0.2	Set output limit of A axis to 0.2 volts
JG 10000	Set A speed
BG A	Start A motion

In this example, the A motor will probably not move since the output signal will not be sufficient to overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.

Increase the torque level gradually by instructions such as

Instruction	Interpretation
TL 1.0	Increase torque limit to 1 volt.
TL 9.998	Increase torque limit to maximum, 9.998 volts.

The maximum level of 9.998 volts provides the full output torque.

Interrogation

The values of the parameters may be interrogated. Some examples …

InstructionInterpretation

KP?	Return gain of A axis
KP ,,?	Return gain of C axis.
KP ?,?,?,?	Return gains of all axes.

Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes all commands which can be interrogated.

Operation in the Buffer Mode

The instructions may be buffered before execution as shown below.

Instruction	Interpretation
PR 600000	Distance
SP 10000	Speed
WT 10000	Wait 10000 milliseconds before reading the next instruction
BG A	Start the motion

Using the On-Board Editor

Motion programs may be edited and stored in the controller’s on-board memory. When the command, ED is given from the Galil DOS terminal (such as DMCTERM), the controllers editor will be started.

The instruction

ED Edit mode

moves the operation to the editor mode where the program may be written and edited. The editor provides the line number. For example, in response to the first ED command, the first line is zero.

34 • Chapter 2 Getting Started DMC-2X00