Galil DMC-3425 Manual De Usuario
DMC-3425
Chapter 6 Programming Motion
• 73
Instruction Interpretation
#A Label
AC 20000,,20000
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.
input the speed must be 50000 counts/sec.
Instruction Interpretation
#JOY Label
JG0
JG0
Set in Jog Mode
BGA Begin
motion
#B
Label for loop
V1 =@AN[1]
Read analog input
VEL=V1*50000/10 Compute
speed
JG VEL
Change JG speed
JP #B
Loop
Linear Interpolation Mode (Local Mode)
The DMC-3425 provides a linear interpolation mode for 2 axes. In linear interpolation mode, motion
between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration
along the specified path. The motion path is described in terms of incremental distances for each axis.
An unlimited number of incremental segments may be given in a continuous move sequence, making
the linear interpolation mode ideal for following a piece-wise linear path. There is no limit to the total
move length.
between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration
along the specified path. The motion path is described in terms of incremental distances for each axis.
An unlimited number of incremental segments may be given in a continuous move sequence, making
the linear interpolation mode ideal for following a piece-wise linear path. There is no limit to the total
move length.
The LM command selects the Linear Interpolation mode and axes for interpolation. Since the
DMC3425 is a 2-axis controller, the LM command would specify LM AB.
DMC3425 is a 2-axis controller, the LM command would specify LM AB.
When using the linear interpolation mode, the LM command only needs to be specified once unless the
axes for linear interpolation change.
axes for linear interpolation change.
Specifying Linear Segments
The command LI x,y or LI a,b specifies the incremental move distance for each axis. This means
motion is prescribed with respect to the current axis position. Up to 511 incremental move segments
may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI
segments may be sent to the controller.
motion is prescribed with respect to the current axis position. Up to 511 incremental move segments
may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI
segments may be sent to the controller.
The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the
start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a
decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the
command AB1 aborts the motion only.
start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a
decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the
command AB1 aborts the motion only.