Example 4 - Absolute Position; Example 5 - Velocity Control (Jogging); Example 6 - Operation Under Torque Limit - Galil Motion Control DMC-14 5 Series Manual

TP
which returns the position of the main encoder.
The position error, which is the difference between the commanded position and the actual position
can be interrogated by the instructions
TE

Example 4 - Absolute Position

Objective: Command motion by specifying the absolute position.
Instruction
DP 0
PA 7000
BG

Example 5 - Velocity Control (Jogging)

Objective: Drive the motor at specified speeds.
Instruction
JG 10000
AC 100000
DC 50000
BG
after a few seconds, command:
JG -40000
TV
This causes velocity changes including direction reversal. The motion can be stopped with the
instruction
ST

Example 6 - Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL. The
following program illustrates that effect.
Instruction
TL 0.2
JG 10000
BG
The motor will probably not move as the output signal is not sufficient to overcome the friction. If the
motion starts, it can be stopped easily by a touch of a finger.
Increase the torque level gradually by instructions such as
TL 1.0
TL 9.98
The maximum level of 10 volts provides the full output torque.
DMC-14x5/6
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
Tell position
Tell error
Interpretation
Define the current position as 0
Sets the desired absolute position
Start motion
Interpretation
Set Jog Speed
Set acceleration
Set deceleration
Start motion
New speed and Direction
Returns speed
Stop
Interpretation
Set output limit to 0.2 volts
Set speed
Start motion
Increase torque limit to 1 volt.
Increase torque limit to maximum, 9.98 Volts.
Chapter 2 Getting Started 29
i