Example 6 - Absolute Position; Example 7 - Velocity Control; Example 8 - Operation Under Torque Limit - Galil Motion Control DMC-1600 Series User Manual

Example 6 - Absolute Position

Objective: Command motion by specifying the absolute position.
Instruction
DP 0,2000
PA 7000,4000
BG X
BG Y
After both motions are complete, the X and Y axes can be command back to zero:
PA 0,0
BG XY

Example 7 - Velocity Control

Objective: Drive the X and Y motors at specified speeds.
Instruction
JG 10000,-20000
AC 100000, 40000
DC 50000,50000
BG XY
after a few seconds, command:
JG -40000
TV X
and then
JG ,20000
TV Y
These cause velocity changes including direction reversal. The motion can be stopped with the
instruction
ST

Example 8 - Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.
Instruction
TL 0.2
JG 10000
BG X
In this example, the X motor will probably not move since the output signal will not be sufficient
to overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.
Increase the torque level gradually by instructions such as
Instruction
TL 1.0
TL 9.98
The maximum level of 9.998 volts provides the full output torque.
26 • Chapter 2 Getting Started
Interpretation
Define the current positions of X,Y as 0 and 2000
Sets the desired absolute positions
Start X motion
Start Y motion
Move to 0,0
Start both motions
Interpretation
Set Jog Speeds and Directions
Set accelerations
Set decelerations
Start motion
New X speed and Direction
Returns X speed
New Y speed
Returns Y speed
Stop
Interpretation
Set output limit of X axis to 0.2 volts
Set X speed
Start X motion
Interpretation
Increase torque limit to 1 volt.
Increase torque limit to maximum, 9.98 Volts.
DMC-1600