Example 7 - Velocity Control; Example 8 - Operation Under Torque Limit - Galil Motion Control DMC-18 2 Series User Manual

PA 7000,4000
BG X
BG Y
After both motions are complete, the X and Y axes can be command back to zero:
PA 0,0
BG XY

Example 7 - Velocity Control

Objective: Drive the X and Y motors at specified speeds.
Instruction
JG 10000,-20000
AC 100000, 40000
DC 50000,50000
BG XY
after a few seconds, command:
JG -40000
TV X
and then
JG ,20000
TV Y
These cause velocity changes including direction reversal. The motion can be stopped with the
instruction
ST

Example 8 - Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.
Instruction
TL 0.2
JG 10000
BG X
In this example, the X motor will probably not move since the output signal will not be sufficient to
overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.
Note: Response is determined by the gain of the amplifier
Increase the torque level gradually by instructions such as
Instruction
TL 1.0
TL 9.98
The maximum level of 9.998 volts provides the full output torque.
24 ● Chapter 2 Getting Started
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Sets the desired absolute positions
Start X motion
Start Y motion
Move to 0,0
Start both motions
Interpretation
Set Jog Speeds and Directions
Set accelerations
Set decelerations
Start motion
New X speed and Direction
Returns X speed
New Y speed
Returns Y speed
Stop
Interpretation
Set output limit of X axis to 0.2 volts
Set X speed
Start X motion
Interpretation
Increase torque limit to 1 volt.
Increase torque limit to maximum, 9.98 Volts.
DMC-18x2