Command Summary – Position Tracking Mode

COMMAND

DESCRIPTION

 

 

AC n,n,n,n,n,n,n,n

Acceleration settings for the specified axes

 

 

AP n,n,n,n,n,n,n,n

Trip point that holds up program execution until an absolute position has been reached

 

 

DC n,n,n,n,n,n,n,n

Deceleration settings for the specified axes

 

 

MF n,n,n,n,n,n,n,n

Trip point to hold up program execution until n number of counts have passed in the

 

forward direction. Only one axis at a time may be specified.

MR n,n,n,n,n,n,n,n

Trip point to hold up program execution until n number of counts have passed in the

 

reverse direction. Only one axis at a time may be specified.

PT n,n,n,n,n,n,n,n

Command used to enter and exit the Trajectory Modification Mode

 

 

PA n,n,n,n,n,n,n,n

Command Used to specify the absolute position target

 

 

SP n,n,n,n,n,n,n,n

Command used to enter and exit the Trajectory Modification Mode

 

 

Independent Jogging

The jog mode of motion is very flexible because speed, direction and acceleration can be changed during motion. The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each axis. The direction of motion is specified by the sign of the JG parameters. When the begin command is given (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or stop (ST) command is issued. If the jog speed is changed during motion, the controller will make an accelerated (or decelerated) change to the new speed.

An instant change to the motor position can be made with the use of the IP command. Upon receiving this command, the controller commands the motor to a position which is equal to the specified increment plus the current position. This command is useful when trying to synchronize the position of two motors while they are moving.

Note that the controller operates as a closed-loop position controller while in the jog mode. The DMC- 2x00 converts the velocity profile into a position trajectory and a new position target is generated every sample period. This method of control results in precise speed regulation with phase lock accuracy.

Command Summary - Jogging

COMMAND

AC A,B,C,D

BG ABCD

DC A,B,C,D

IP A,B,C,D

IT A,B,C,D

JG +/-A,B,C,D

ST ABCD

DESCRIPTION

Specifies acceleration rate Begins motion Specifies deceleration rate Increments position instantly

Time constant for independent motion smoothing Specifies jog speed and direction

Stops motion

Parameters can be set with individual axes specifiers such as JGB=2000 (set jog speed for B axis to 2000).

Operand Summary - Independent Axis

OPERAND

_ACx

DESCRIPTION

Return acceleration rate for the axis specified by ‘x’

34 Chapter 6 Programming Motion

DMC-2X00

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Galil DMC-2X00 user manual Independent Jogging, Command Summary Position Tracking Mode, Command Summary Jogging