Galil DMC-3425 Manual De Usuario
32 • Chapter 2 Getting Started
DMC-3425
Design Examples
Here are a few examples for tuning and using your controller. These examples are shown for a single axis system
only, but can be modified to test up to 8 axes within a distributed control network. See Chapter 6
Programming Motion for more examples of multi-axis programming.
Programming Motion for more examples of multi-axis programming.
Example 1 - System Set-up
This example assigns the system filter parameters, error limits and enables the automatic error shut-off.
Instruction Interpretation
KP 10
Set proportional gain
KD 100
Set damping
KI 1
Set integral
OE 1
Set error off
ER 1000
Set error limit
Example 2 - Profiled Move
Objective: Rotate a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration
and deceleration rates of 100,000 counts/s
and deceleration rates of 100,000 counts/s
2
.
Instruction Interpretation
PR 10000
Distance
SP 20000
Speed
DC 100000
Deceleration
AC 100000
Acceleration
BGA Start
Motion
In response, the motor turns and stops.
Example 3 - Position Interrogation
The position of the A axis may be interrogated with the instruction
TPA Tell
position
which returns the position of the main encoder.
The position error, which is the difference between the commanded position and the actual position
can be interrogated by the instructions
can be interrogated by the instructions
TEA Tell
error
Example 4 - Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction Interpretation
DP 0
Define the current position as 0
PA 7000
Sets the desired absolute position
BGA
Start motion on A axis