Galil DMC-2010, User Manual

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_DCx Return deceleration rate for the axis specified by ‘x’
_SPx Returns the jog speed for the axis specified by ‘x’
_TVx Returns the actual velocity of the axis specified by ‘x’ (averaged over .25 sec)
Examples
Jog in X only
Jog A motor at 50000 count/s. After A motor is at its jog speed, begin jogging C in reverse direction at
25000 count/s.
Instruction Interpretation
#A Label
AC 20000,,20000
Specify A,C acceleration of 20000 cts / sec
DC 20000,,20000 Specify A,C deceleration of 20000 cts / sec
JG 50000,,-25000 Specify jog speed and direction for A and C axis
BG A Begin A motion
AS A Wait until A is at speed
BG C Begin C motion
EN
Joystick Jogging
The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10 volt
input the speed must be 50000 counts/sec.
Instruction Interpretation
#JOY Label
JG0
Set in Jog Mode
BGA Begin motion
#B Label for loop
vl =@AN[1] Read analog input
vel=v1*50000/10 Compute speed
JG vel Change JG speed
JP #B Loop
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Chapter 6 Programming Motion DMC-2X00