Galil DMC-2X00 - Manual (Page 81)

acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-2x00
profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory.
The controller determines a new command position along the trajectory every sample period until the
specified profile is complete. Motion is complete when the last position command is sent by the
DMC-2x00 profiler.
NOTE: The actual motor motion may not be complete when the profile has been completed, however,
the next motion command may be specified.
The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or
D axis specifiers are required to select the axes for motion. When no axes are specified, this causes
motion to begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion; however, the
deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember,
motion is complete when the profiler is finished, not when the actual motor is in position. The Stop
command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final
position.
An incremental position movement (IP) may be specified during motion as long as the additional move
is in the same direction. Here, the user specifies the desired position increment, n. The new target is
equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be
generated for motion towards the new end position. The IP command does not require a BG.
NOTE: If the motor is not moving, the IP command is equivalent to the PR and BG command
combination.
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 Trip point for profiler complete
MC ABCD Trip point for "in position"
The DMC-2x00 also allows use of single axis specifiers such as PRB=2000
Operand Summary - Independent Axis
OPERAND DESCRIPTION
_ACx Return acceleration rate for the axis specified by ‘x’
_DCx Return deceleration rate for the axis specified by ‘x’
_SPx Returns the speed for the axis specified by ‘x’
DMC-2X00 Chapter 6 Programming Motion y 71