Galil Motion Control DMC-1000 - Example 7 - Velocity Control; Example 8 - Operation under Torque Limit; Example 9 - Interrogation

20 • Chapter 2 Getting Started DMC-1000
DP 0,2000 Define the current positions of X,Y as 0 and 2000
PA 7000,4000 Sets the desired absolute positions
BG X Start X motion
BG Y Start Y motion
After both motions are complete, the X and Y axes can be command back to zero:
PA 0,0 Move to 0,0
BG XY Start both motions
Example 7 - Velocity Control
Objective: Drive the X and Y motors at specified speeds.
Instruction Interpretation
JG 10000,-20000 Set Jog Speeds and Directions
AC 100000, 40000 Set accelerations
DC 50000,50000 Set decelerations
BG XY Start motion
after a few seconds, send the following command:
JG -40000 New X speed and Direction
TV X Returns X speed
and then
JG ,20000 New Y speed
TV Y Returns Y speed
These cause velocity changes including direction reversal. The motion can be stopped with the
instruction
ST Stop
Example 8 - Operation Under Torque Limit
The magnitude of the motor command may be limited independently by the instruction TL.
Instruction Interpretation
TL 0.2 Set output limit of X axis to 0.2 volts
JG 10000 Set X speed
BG X Start X motion
In this example, the X motor will probably not move since the output signal will not be 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
Instruction Interpretation
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 9 - Interrogation
The values of the parameters may be interrogated. Some examples …
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