Galil DMC-2X00 用户手册
DMC-2X00
Chapter 6 Programming Motion
y 27
_PAx
Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded
position if in a move.
position if in a move.
_PRx
Returns current incremental distance specified for the ‘x’ axis
Examples
Absolute Position Movement
Instruction Interpretation
PA 10000,20000
Specify absolute A,B position
AC 1000000,1000000
Acceleration for A,B
DC 1000000,1000000
Deceleration for A,B
SP 50000,30000
Speeds for A,B
BG AB
Begin motion
Multiple Move Sequence
Required Motion Profiles:
A-Axis 500
counts
Position
10000
count/sec
Speed
500000 counts/sec
2
Acceleration
B-Axis 1000
counts
Position
15000
count/sec
Speed
500000 counts/sec
2
Acceleration
C-Axis 100
counts
Position
5000
counts/sec
Speed
500000
counts/sec
2
Acceleration
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. Fig. 6.1 shows the velocity profiles for the A,B and C axis.
axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the A,B and C axis.
Instruction Interpretation
#A Begin
Program
PR 2000,500,100
Specify relative position movement of 2000, 500 and 100 counts
for A,B and C axes.
for A,B and C axes.
SP 15000,10000,5000
Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000
Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000,500000
Specify deceleration of 500000 counts / sec
2
for all axes
BG A
Begin motion on the A axis
WT 20
Wait 20 msec
BG B
Begin motion on the B axis
WT 20
Wait 20 msec
BG C
Begin motion on C axis
EN End
Program