Galil DMC-1510 - Page 55

DMC-1500 Chapter 6 Programming Motion • 43
Example - Multiple Move Sequence
Required Motion Profiles:
X-Axis 500 counts Position
10000 count/sec Speed
500000 counts/sec
2
Acceleration
Y-Axis 1000 counts Position
15000 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. Fig. 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 1000, 500 and 100 counts for X,Y and Z
axes.
SP 15000,10000,5000 Specify speed of 10000, 15000, 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
VELOCITY
(COUNTS/SEC)
20000
10000
5000
15000
20
40 60
80
TIME (ms)
100
X axis velocity profile
Y axis velocity profile
Z axis velocity profile
0
Figure 6.1 - Velocity Profiles of XYZ