Galil DMC-2X00 - Profiled Move; Multiple Axes; Objective: Move the Four Axes Independently; Independent Moves

Profiled Move
Rotate the A axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration
and deceleration rates of 100,000 counts/s2. In this example, the motor turns and stops:
Instruction Interpretation
PR1000 Distance
SP20000 Spee
d
DC 100000 Deceleration
AC 100000 Acceleration
BG A Start Motion
Multiple Axes
Objective: Move the four axes independently.
Instruction Interpretation
PR 500,1000,600,-400 Distances of A,B,C,D
SP 10000,12000,20000,10000 Slew speeds of A,B,C,D
AC 10000,10000,10000,10000 Accelerations of A,B,C,D
DC 80000,40000,30000,50000 Decelerations of A,B,C,D
BG AC Start A and C motion
BG BD Start B and D motion
Independent Moves
The motion parameters may be specified independently as illustrated below.
Instruction Interpretation
PR ,300,-600 Distances of B and C
SP ,2000 Slew speed of B
DC ,80000 Deceleration of B
AC ,100000 Acceleration of B
AC ,,100000 Acceleration of C
DC,,150000 Deceleration of C
BG C Start C motion
BG B Start B motion
Position Interrogation
The position of the four axes may be interrogated with the instruction, TP.
Instruction Interpretation
TP Tell position all four axes
TP A Tell position
–
A axis only
TP B Tell position
–
B axis only
TP C Tell position
–
C axis only
TP D Tell position
–
D axis only
32 • Chapter 2 Getting Started DMC-2X00