Example 4 - Independent Moves; Example 5 - Position Interrogation; Example 6 - Absolute Position - Galil Motion Control DMC-18 2 Series User Manual

Instruction
PR 500,1000,600,-400
SP 10000,12000,20000,10000
AC 100000,10000,100000,100000
DC 80000,40000,30000,50000
BG XZ
BG YW

Example 4 - Independent Moves

The motion parameters may be specified independently as illustrated below.
Instruction
PR ,300,-600
SP ,2000
DC ,80000
AC, 100000
SP ,,40000
AC ,,100000
DC ,,150000
BG Z
BG Y

Example 5 - Position Interrogation

The position of the four axes may be interrogated with the instruction, TP.
Instruction
TP
TP X
TP Y
TP Z
TP W
The position error, which is the difference between the commanded position and the actual position
can be interrogated with the instruction TE.
Instruction
TE
TE X
TE Y
TE Z
TE W

Example 6 - Absolute Position

Objective: Command motion by specifying the absolute position.
Instruction
DP 0,2000
DMC-18x2
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Interpretation
Distances of X,Y,Z,W
Slew speeds of X,Y,Z,W
Accelerations of X,Y,Z,W
Decelerations of X,Y,Z,W
Start X and Z motion
Start Y and W motion
Interpretation
Distances of Y and Z
Slew speed of Y
Deceleration of Y
Acceleration of Y
Slew speed of Z
Acceleration of Z
Deceleration of Z
Start Z motion
Start Y motion
Interpretation
Tell position all four axes
Tell position - X axis only
Tell position - Y axis only
Tell position - Z axis only
Tell position - W axis only
Interpretation
Tell error - all axes
Tell error - X axis only
Tell error - Y axis only
Tell error - Z axis only
Tell error - W axis only
Interpretation
Define the current positions of X,Y as 0 and 2000
Chapter 2 Getting Started • 23