Galil Motion Control DMC-21 5 Series User Manual page 90

Event Trigger - Change Speed along Vector Path
The following program changes the feed rate or vector speed at the specified distance along the vector. The vector
distance is measured from the start of the move or from the last
#vector;
VM AB;
VS 5000;
VP 10000,20000;
VP 20000,30000;
VE;
SH AB;
BG S;
AV 5000;
VS 1000;
AM S;
MO AB;
EN;
Event Trigger - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before executing new
moves.
#moves;
PR 12000;
SP 20000;
AC 100000;
SH A;
BG A;
AD 10000;
SP 5000;
AM A;
WT 200;
PR -10000;
SP 30000;
AC 150000;
BG A;
AM A;
MO A;
EN;
Define Output Waveform Using AT
The following program causes Output 1 active for 10 msec and inactive for 40 msec. This cycle repeats indefinitely.
#output;
AT 0;
SB 1;
#loop;
AT 10;
CB 1;
AT -40;
SB 1;
JP #loop;
EN;
Chapter 7 Application Programming ▫ 85
'program label
'define S vector plane as A and B axes
'set vector speed
'define vector position point
'end vector sequence
'enable A and B axes
'begin sequence on S plane
'wait until passed vector distance
'reduce speed
'wait for motion to finish
'disable A and B axis
'end program
'program label
'define position relative move
'set speed
'set acceleration
'enable A axis
'begin motion
'wait until position is reached
'set new speed
'wait for motion to finish
wait 200 ms
'define new position move
'set new speed
'set new acceleration
'begin motion
'wait for motion to finish
'disable A axis
'end program
'program label
'initialize time reference
'set Output 1
'loop label
'wait for 10 samples from ref
'clear Output 1
'wait for 40 samples from ref, reset ref
'set Output 1
'jump back to loop label
'end program
command.
AV
DMC-21x5 User Manual 1.0a1