Galil DMC-4040 - Example 3 - Multiple Axes; Example 4 - Independent Moves; Example 5 - Position Interrogation; Example 6 - Absolute Position

SP20000 Speed
DC 100000 Deceleration
AC 100000 Acceleration
BG A Start Motion
Example 3 - 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
Example 4 - 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
Example 5 - 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
The position error, which is the difference between the commanded position and the actual position can be
interrogated with the instruction TE.
Instruction
Interpretation
TE Tell error – all axes
TE A Tell error – A axis only
TE B Tell error – B axis only
TE C Tell error – C axis only
TE D Tell error – D axis only
Example 6 - Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction Interpretation
DMC-40x0 User Manual Chapter 2 Getting Started • 26