Galil DMC-2X00 user manual Command Summary Independent Axis, Operand Summary Independent Axis

acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-2x00 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory. The controller determines a new command position along the trajectory every sample period until the specified profile is complete. Motion is complete when the last position command is sent by the DMC-2x00 profiler.

NOTE: The actual motor motion may not be complete when the profile has been completed, however, the next motion command may be specified.

The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or D axis specifiers are required to select the axes for motion. When no axes are specified, this causes motion to begin on all axes.

The speed (SP) and the acceleration (AC) can be changed at any time during motion; however, the deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember, motion is complete when the profiler is finished, not when the actual motor is in position. The Stop command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final position.

An incremental position movement (IP) may be specified during motion as long as the additional move is in the same direction. Here, the user specifies the desired position increment, n. The new target is equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be generated for motion towards the new end position. The IP command does not require a BG.

NOTE: If the motor is not moving, the IP command is equivalent to the PR and BG command combination.

Command Summary - Independent Axis

COMMAND

PR A,B,C,D

PA A,B,C,D

SP A,B,C,D

AC A,B,C,D

DC A,B,C,D

BG ABCD

ST ABCD

IP A,B,C,D

IT A,B,C,D

AM ABCD

MC ABCD

DESCRIPTION

Specifies relative distance Specifies absolute position Specifies slew speed Specifies acceleration rate Specifies deceleration rate Starts motion

Stops motion before end of move Changes position target

Time constant for independent motion smoothing Trip point for profiler complete

Trip point for "in position"

The DMC-2x00 also allows use of single axis specifiers such as PRB=2000

Operand Summary - Independent Axis

OPERAND

_ACx

_DCx

_SPx

DESCRIPTION

Return acceleration rate for the axis specified by ‘x’ Return deceleration rate for the axis specified by ‘x’ Returns the speed for the axis specified by ‘x’

26 • Chapter 6 Programming Motion DMC-2X00