Galil DMC-2X00 user manual Examples, Absolute Position Movement, Multiple Move Sequence

_PAx

_PRx

Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded position if in a move.

Returns current incremental distance specified for the ‘x’ axis

Examples

Absolute Position Movement

Instruction	Interpretation
PA 10000,20000	Specify absolute A,B position
AC 1000000,1000000	Acceleration for A,B
DC 1000000,1000000	Deceleration for A,B
SP 50000,30000	Speeds for A,B
BG AB	Begin motion

Multiple Move Sequence

Required Motion Profiles:

A-Axis	500 counts		Position
	10000 count/sec		Speed
	500000 counts/sec	2	Acceleration
B-Axis	1000 counts		Position
	15000 count/sec		Speed
	500000 counts/sec	2	Acceleration
C-Axis	100 counts		Position
	5000 counts/sec		Speed
	500000 counts/sec2		Acceleration

This example will specify a relative position movement on A, B and C axes. The movement on each axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the A,B and C axis.

Instruction	Interpretation
#A	Begin Program
PR 2000,500,100	Specify relative position movement of 2000, 500 and 100 counts
	for A,B and C axes.
SP 15000,10000,5000	Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000	Specify acceleration of 500000 counts / sec2 for all axes
DC 500000,500000,500000	Specify deceleration of 500000 counts / sec2 for all axes
BG A	Begin motion on the A axis
WT 20	Wait 20 msec
BG B	Begin motion on the B axis
WT 20	Wait 20 msec
BG C	Begin motion on C axis
EN	End Program

DMC-2X00 Chapter 6 Programming Motion y 27