Galil DMC-3425 Manual De Usuario
70 • Chapter 6 Programming Motion
DMC-3425
Command Summary - Independent Axis
COMMAND DESCRIPTION
PR a,b,c,d
Specifies relative distance
PA a,b,c,d
Specifies absolute position
SP a,b,c,d
Specifies slew speed
AC a,b,c,d
Specifies acceleration rate
DC a,b,c,d
Specifies deceleration rate
BG ABCD
Starts motion
ST ABCD
Stops motion before end of move
IP a,b,c,d
Changes position target
IT a,b,c,d
Time constant for independent motion smoothing
AM ABCD
Trippoint for profiler complete
MC ABCD
Trippoint for "in position"
The lower case specifiers (a,b,c,d) represent position values for each axis.
The DMC-3425 also allows use of single axis specifiers such as PRA=2000
Operand Summary - Independent Axis
OPERAND DESCRIPTION
_ACn
Return acceleration rate for the axis specified by ‘n
_DCn
Return deceleration rate for the axis specified by ‘n’
_SPn
Returns the speed for the axis specified by ‘n’
_PAn
Returns current destination if ‘n’ axis is moving, otherwise returns the current commanded
position if not in a move.
position if not in a move.
_PRn
Returns current incremental distance specified for the ‘n’ 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 1000
counts
Position
15000
count/sec
Speed
500000 counts/sec2
Acceleration/Deceleration
B-Axis 500
counts
Position