Galil DMC-3425 user manual Position Control by Joystick, Jg Vel Jp #B

The program reads the input voltage periodically and assigns its value to the variable VIN. To get a speed of 200,000 ct/sec for 10 volts, we select the speed as

Speed = 20000 x VIN

The corresponding velocity for the motor is assigned to the VEL variable.

Instruction

#A

JG0

BGA #B VIN=@AN[1] VEL=VIN*20000

JG VEL

JP #B

EN

Position Control by Joystick

This system requires the position of the motor to be proportional to the joystick angle. Furthermore, the ratio between the two positions must be programmable. For example, if the control ratio is 5:1, it implies that when the joystick voltage is 5 Volts, corresponding to 1028 counts, the required motor position must be 5120 counts. The variable V3 changes the position ratio.

Instruction	Interpretation
#A	Label
V3=5	Initial position ratio
DP0	Define the starting position
JG0	Set motor in jog mode as zero
BGA	Start
#B
V1=@AN[1]	Read analog input
V2=V1*V3	Compute the desired position
V4=V2-_TPA-_TEA	Find the following error
V5=V4*20	Compute a proportional speed
JG V5	Change the speed
JP #B	Repeat the process
EN	End

DMC-3425 Chapter 7 Application Programming• 149