Command Summary - Independent Axis; Operand Summary - Independent Axis - Galil Motion Control DMC-18 2 Series User Manual

Stop command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its
final position.
An incremental position movement (IP) may be specified during motion as long as the additional move
is in the same direction. Here, the user specifies the desired position increment, n. The new target is
equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be
generated for motion towards the new end position. The IP command does not require a begin. Note:
If the motor is not moving, the IP command is equivalent to the PR and BG command combination.

Command Summary - Independent Axis

COMMAND
PR x,y,z,w
PA x,y,z,w
SP x,y,z,w
AC x,y,z,w
DC x,y,z,w
BG XYZW
ST XYZW
IP x,y,z,w
IT x,y,z,w
AM XYZW
MC XYZW
The lower case specifiers (x,y,z,w) represent position values for each axis.
The DMC-18x2 also allows use of single axis specifiers such as PRY=2000

Operand Summary - Independent Axis

OPERAND
_ACx
_DCx
_SPx
_PAx
_PRx
DMC-18x2
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DESCRIPTION
Specifies relative distance
Specifies absolute position
Specifies slew speed
Specifies acceleration rate
Specifies deceleration rate
Starts motion
Stops motion before end of move
Changes position target
Time constant for independent motion smoothing
Trippoint for profiler complete
Trippoint for "in position"
DESCRIPTION
Return acceleration rate for the axis specified by 'x'
Return deceleration rate for the axis specified by 'x'
Returns the speed for the axis specified by 'x'
Returns current destination if 'x' axis is moving, otherwise returns the current commanded
position if in a move.
Returns current incremental distance specified for the 'x' axis
Chapter 6 Programming Motion • 69