Galil DMC-4040 - Page 88

_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. Fig. 6.0 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 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 • 79 DMC-40x0 User Manual