Galil DMC-3425 user manual InstructionInterpretation, Bg C

	10000 count/sec	Speed
	500000 counts/sec2	Acceleration/Deceleration
C-Axis	100 counts	Position
	5000 counts/sec	Speed
	500000 counts/sec	Acceleration/Deceleration

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.

InstructionInterpretation

#A	Begin Program
PR 1000,500,100	Specify relative position movement of 1000, 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

VELOCITY
(COUNTS/SEC)
		A axis velocity profile
20000				B axis velocity profile
15000
10000				C axis velocity profile
5000					TIME (ms)
0	20	40	60	80	100

Figure 6.1 - Velocity Profiles of ABC

Notes on fig 6.1: The A and B axis have a ‘trapezoidal’ velocity profile, while the C axis has a ‘triangular’ velocity profile. The A and B axes accelerate to the specified speed, move at this constant speed, and then decelerate such that the final position agrees with the command position, PR. The C axis accelerates, but before the specified speed is achieved, must begin deceleration such that the axis will stop at the commanded position. All 3 axes have the same acceleration and deceleration rate, hence, the slope of the rising and falling edges of all 3 velocity profiles are the same.

DMC-3425 Chapter 6 Programming Motion• 71