Galil Motion Control DMC-40 0 Series

The lower case specifiers (x,y,z,w) represent position values for each axis.
The DMC-40x0 also allows use of single axis specifiers such as PRY=2000
Operand Summary - Independent Axis
OPERAND DESCRIPTION
_ACx
Return acceleration rate for the axis specified by ‘x’
_DCx
Return deceleration rate for the axis specified by ‘x’
_SPx
Returns the speed for the axis specified by ‘x’
_PAx
Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded
position if in a move.
_PRx
Returns current incremental distance specified for the ‘x’ axis
Example - Absolute Position Movement
PA 10000,20000
Specify absolute X,Y position
AC 1000000,1000000
Acceleration for X,Y
DC 1000000,1000000
Deceleration for X,Y
SP 50000,30000
Speeds for X,Y
BG XY
Begin motion
Example - Multiple Move Sequence
Required Motion Profiles:
X-Axis 500 counts Position
20000 count/sec Speed
500000 counts/sec
2 Acceleration
Y-Axis 1000 counts Position
10000 count/sec Speed
500000 counts/sec
2 Acceleration
Z-Axis 100 counts Position
5000 counts/sec Speed
500000 counts/sec Acceleration
This example will specify a relative position movement on X, Y and Z axes. The movement on each axis will be
separated by 20 msec. Figure 6.1 shows the velocity profiles for the X,Y and Z axis.
#A
Begin Program
PR 2000,500,100
Specify relative position movement of 2000, 500 and 100 counts for X,Y and Z axes.
SP 20000,10000,5000
Specify speed of 20000, 10000, and 5000 counts / sec
AC 500000,500000,500000
Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000,500000
Specify deceleration of 500000 counts / sec
2
for all axes
BG X
Begin motion on the X axis
WT 20
Wait 20 msec
BG Y
Begin motion on the Y axis
WT 20
Wait 20 msec
BG Z
Begin motion on Z axis
EN
End Program
Chapter 6 Programming Motion ▫ 73 DMC-40x0 User Manual