Command Summary - Jogging; Operand Summary - Independent Axis - Galil Motion Control DMC-1000 User Manual

Table of Contents

The direction of motion is specified by the sign of the JG parameters. When the begin command is

given (BG), the motor accelerates up to speed and continues to jog at that speed until a new speed or

stop (ST) command is issued. If the jog speed is changed during motion, the controller will make a

accelerated (or decelerated) change to the new speed.

An instant change to the motor position can be made with the use of the IP command. Upon receiving

this command, the controller commands the motor to a position which is equal to the specified

increment plus the current position. This command is useful when trying to synchronize the position

of two motors while they are moving.

Note that the controller operates as a closed-loop position controller while in the jog mode. The

DMC-1000 converts the velocity profile into a position trajectory and a new position target is

generated every sample period. This method of control results in precise speed regulation with phase

lock accuracy.

COMMAND

AC x,y,z,w

BG X,Y,Z,W

DC x,y,z,w

IP x,y,z,w

IT x,y,z,w

JG +/-x,y,z,w

ST XYZW

Parameters can be set with individual axes specifiers such as JGY+2000(set jog speed for X axis to

2000) or ACYH=40000 (set acceleration for Y and H axes to 400000) .

OPERAND

_ACx

_DCx

_SPx

_TVx

Jog X motor at 50000count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at

25000 count/s.

AC 20000,,20000

DC 20000,,20000

JG 50000,,-25000

BG XY

AS X

BG Z

48 • Chapter 6 Programming Motion

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