Galil DMC-1800 Manual De Usuario
108 • Chapter 6 Programming Motion
DMC-1700/1800
For example, assume that a gantry is driven by two axes, X,Y, on both sides. This requires the gantry mode for
strong coupling between the motors. The X-axis is the master and the Y-axis is the follower. To synchronize Y
with the commanded position of X, use the instructions:
strong coupling between the motors. The X-axis is the master and the Y-axis is the follower. To synchronize Y
with the commanded position of X, use the instructions:
GA, CX
Specify the commanded position of X as master for Y.
GR,1
Set gear ratio for Y as 1:1
GM,1
Set gantry mode
PR 3000
Command X motion
BG X
Start motion on X axis
You may also perform profiled position corrections in the electronic gearing mode. Suppose, for example, that you
need to advance the slave 10 counts. Simply command
need to advance the slave 10 counts. Simply command
IP ,10
Specify an incremental position movement of 10 on Y axis.
Under these conditions, this IP command is equivalent to
:
PR,10
Specify position relative movement of 10 on Y axis
BGY
Begin motion on Y axis
Often the correction is quite large. Such requirements are common when synchronizing cutting knives or conveyor
belts.
belts.
Example - Synchronize two conveyor belts with trapezoidal velocity
correction.
correction.
GA,X
Define X as the master axis for Y.
GR,2
Set gear ratio 2:1 for Y
PR,300 Specify
correction
distance
SP,5000 Specify
correction
speed
AC,100000 Specify
correction acceleration
DC,100000 Specify
correction deceleration
BGY Start
correction
Electronic Cam
The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion.
Up to 7 axes can be slaved to one master axis. The master axis encoder must be input through a main encoder port.
Up to 7 axes can be slaved to one master axis. The master axis encoder must be input through a main encoder port.
The electronic cam is a more general type of electronic gearing which allows a table-based relationship between the
axes. It allows synchronizing all the controller axes. For example, the DMC-1780 and DMC-1880 controllers may
have one master and up to seven slaves.
axes. It allows synchronizing all the controller axes. For example, the DMC-1780 and DMC-1880 controllers may
have one master and up to seven slaves.
To illustrate the procedure of setting the cam mode, consider the cam relationship for the slave axis Y, when the
master is X. Such a graphic relationship is shown in Figure 6.8.
master is X. Such a graphic relationship is shown in Figure 6.8.
Step 1. Selecting the master axis
The first step in the electronic cam mode is to select the master axis. This is done with the instruction
The first step in the electronic cam mode is to select the master axis. This is done with the instruction
EAp where p = X,Y,Z,W,E,F,G,H
p is the selected master axis
p is the selected master axis
For the given example, since the master is x, we specify EAX
Step 2. Specify the master cycle and the change in the slave axis (es).