Command Summary - Independent Axis - Galil Motion Control DMC-14 5 Series Manual

The Begin (BG) command can be issued for all axes either simultaneously or independently. X or Y
axis specifiers are required to select the axes for motion. When no axes are specified, this causes
motion to begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion, however, the
deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember,
motion is complete (AM) when the profiler is finished, not when the actual motor is in position. The
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
PA x,y
SP x,y
AC x,y
DC x,y
BG XY
ST XY
IP x,y
IT x,y
AM XY
MC XY
The lower case specifiers (x,y) represent position values for each axis.
The DMC-14XX also allows use of single axis specifiers such as PRY=2000
Operand Summary - Independent Axis
Operand
_ACx
_DCx
_SPx
_PAx
_PRx
Example - Absolute Position Movement
PA 10000,20000
AC 1000000,1000000
DC 1000000,1000000
SP 50000,30000
BG XY
DMC-14x5/6
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com
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 the last command position at which motion stopped
Returns current incremental distance specified for the 'x' axis
Specify absolute X,Y position
Acceleration for X,Y
Deceleration for X,Y
Speeds for X,Y
Begin motion
Chapter 6 Programming Motion 57
i