Galil DMC-3425 Example 5 Velocity Control Jogging, Example 6 Operation Under Torque Limit, Tva

Example 5 - Velocity Control (Jogging)

Objective: Drive the motor at specified speeds.

Instruction	Interpretation
JG 10000	Set Jog Speed
AC 100000	Set acceleration
DC 50000	Set deceleration
BGA	Start motion on A axis

after a few seconds, command:

JG –40000	New speed and Direction
TVA	Returns speed

This causes velocity changes including direction reversal. The motion can be stopped with the instruction

STAStop

Example 6 - Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL. The following program illustrates that effect.

Instruction	Interpretation
TL 0.2	Set output limit to 0.2 volts
JG 10000	Set speed
BGA	Start motion on A axis

The motor will probably not move as the output signal is not 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

TL 1.0	Increase torque limit to 1 volt.
TL 9.98	Increase torque limit to maximum, 9.98 Volts.

The maximum level of 10 volts provides the full output torque.

Example 7 - Interrogation

The values of the parameters may be interrogated using a ?. For example, the instruction

KP ? Return gain

The same procedure applies to other parameters such as KI, KD, FA, etc.

Example 8 - 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
BGA	Start the motion

DMC-3425 Chapter 2 Getting Started• 33