Galil Motion Control DMC-21 5 Series User Manual page 43

Operand Summary - Independent Axis
OPERAND
Table 6.2: List of operands related to independent motion that contain specific information about an individual axis
Example - Absolute Position Movement
DP 0,0;
SH AB;
PA 10000,20000;
AC 1000000,1000000;
DC 1000000,1000000;
SP 50000,30000;
BG AB;
AM AB;
MO AB;
EN;
Example - Multiple Move Sequence
This example will specify a relative position movement on A, B and C axes. The movement on each axis will be
separated by 20 msec Figure 6.1 shows the velocity profiles for the A,B and C axis.
#a
PR 2000,500,100;
SP 20000,10000,5000;
AC 500000,500000,500000;
DC 500000,500000,500000;
SH ABC;
BG A;
WT 20;
BG B;
WT 20;
BG C;
MO ABC;
EN;
Chapter 6 Programming Motion ▫ 38
_ACm Return acceleration rate for the axis specified by 'm'
_DCm Return deceleration rate for the axis specified by 'm'
_SPm Returns the speed for the axis specified by 'm'
_PAm Returns the last commanded position for the 'm' axis
_PRm Returns current incremental distance specified for the 'm' axis
_TVm Returns the actual velocity of the axis specified by 'm'
'define initial position at zero for both axes
'servo both axes
'specify absolute A,B position
'acceleration for A,B
'deceleration for A,B
'speeds for A,B
'begin motion
'after motion disable A and B axes
'disable both axes
'end program
'begin program
'specify relative position move of 2000, 500 and 100
counts for A,B and C axes
'specify speed of 20000, 10000, and 5000 counts /
sec
'specify acceleration of 500000 counts / sec2 for
all axes
'specify deceleration of 500000 counts/sec2 for all
axes
'enable A, B, and C axes
'begin motion on the A axis
'wait 20 msec
'begin motion on the B axis
'wait 20 msec
'begin motion on C axis
'disable A, B, and C axes
'end Program
DESCRIPTION
DMC-21x5 User Manual 1.0a1