Galil DMC-2010, User Manual

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AP ,50000 Wait until position B=50000
SP ,10000 Change speed of B
EN End program
To start the program, command:
XQ #B Execute Program #B
Control Variables
Objective: To show how control variables may be utilized.
Instruction Interpretation
#A;DP0 Label; Define current position as zero
PR 4000 Initial position
SP 2000 Set speed
BGA Move A
AMA Wait until move is complete
WT 500 Wait 500 ms
#B
V1 = _TPA
Determine distance to zero
PR -V1/2 Command A move 1/2 the distance
BGA Start A motion
AMA After A 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 A to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPA is an internal variable which returns the value of the A position. Internal
variables may be created by preceding a DMC-2x00 instruction with an underscore, _.
Linear Interpolation
Objective: Move A,B,C motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
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Chapter 2 Getting Started DMC-2X00