Independent Jogging - Galil Motion Control DMC-1000 User Manual

5000 counts/sec
500000 counts/sec
This example will specify a relative position movement on X, Y and Z axes. The movement on each
axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the X,Y and Z axis.
#A
PR 2000,500,100
SP 15000,10000,5000
AC 500000,500000,500000
DC 500000,500000,500000
BG X
WT 20
BG Y
WT 20
BG Z
EN
VELOCITY
(COUNTS/SEC)
20000
15000
10000
5000
0
Figure 6.1 - Velocity Profiles of XYZ
Notes on fig 6.1: The X and Y axis have a 'trapezoidal' velocity profile, while the Z axis has a
'triangular' velocity profile. The X and Y axes accelerate to the specified speed, move at this constant
speed, and then decelerate such that the final position agrees with the command position, PR. The Z
axis accelerates, but before the specified speed is achieved, must begin deceleration such that the axis
will stop at the commanded position. All 3 axes have the same acceleration and deceleration rate,
hence, the slope of the rising and falling edges of all 3 velocity profiles are the same.

Independent Jogging

The jog mode of motion allows the user to change speed, direction and acceleration during motion.
The user specifies the jog speed (JG), acceleration (AC), and the deceleration (DC) rate for each axis.
DMC-1000
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Speed
Acceleration
Begin Program
Specify relative position movement of 1000, 500 and 100 counts for X,Y and Z
axes.
Specify speed of 10000, 15000, and 5000 counts / sec
Specify acceleration of 500000 counts / sec
Specify deceleration of 500000 counts / sec
Begin motion on the X axis
Wait 20 msec
Begin motion on the Y axis
Wait 20 msec
Begin motion on Z axis
End Program
X axis velocity profile
20
40
2
for all axes
2
for all axes
Y axis velocity profile
Z axis velocity profile
80
60
Chapter 6 Programming Motion • 47
TIME (ms)
100