Galil DMC-1510, User Manual

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DMC-1500 Chapter 2 Getting Started
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SP 2000 Set speed
BGX Move X
AMX Wait until move is complete
WT 500 Wait 500 ms
#B
V1 = _TPX Determine distance to zero
PR -V1/2 Command X move 1/2 the distance
BGX Start X motion
AMX After X moved
WT 500 Wait 500 ms
V1= Report the value of V1
JP #C, V1=0 Exit if position=0
JP #B Repeat otherwise
#C Label #C
EN End of Program
To start the program, command
XQ #A Execute Program #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPX is an internal variable which returns the value of the X position. Internal
variables may be created by preceding a DMC-1500 instruction with an underscore, _.
Example 15 - Linear Interpolation
Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
Instruction Interpretation
LM XYZ Specify linear interpolation axes
LI 7000,3000,6000 Relative distances for linear interpolation
LE Linear End
VS 6000 Vector speed
VA 20000 Vector acceleration
VD 20000 Vector deceleration
BGS Start motion
Example 16 - Circular Interpolation
Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-4. Note that the
vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion
sequence. See application programming for further information.
Instruction Interpretation
VM XY Select XY axes for circular interpolation
VP -4000,0 Linear segment
CR 2000,270,-180 Circular segment
VP 0,4000 Linear segment