Galil DMC-1700 Manual De Usuario
DMC-1700/1800
Chapter 6 Programming Motion • 101
This ‘local’ definition of zero does not affect the absolute coordinate system or subsequent coordinated motion
sequences.
sequences.
The command, VP x,y specifies the coordinates of the end points of the vector movement with respect to the starting
point. Non-sequential axis do not require comma delimitation. The command, CR r,q,d define a circular arc with a
radius r, starting angle of q, and a traversed angle d. The notation for q is that zero corresponds to the positive
horizontal direction, and for both q and d, the counter-clockwise (CCW) rotation is positive.
point. Non-sequential axis do not require comma delimitation. The command, CR r,q,d define a circular arc with a
radius r, starting angle of q, and a traversed angle d. The notation for q is that zero corresponds to the positive
horizontal direction, and for both q and d, the counter-clockwise (CCW) rotation is positive.
Up to 511 segments of CR or VP may be specified in a single sequence and must be ended with the command VE.
The motion can be initiated with a Begin Sequence (BGS) command. Once motion starts, additional segments may
be added.
The motion can be initiated with a Begin Sequence (BGS) command. Once motion starts, additional segments may
be added.
The Clear Sequence (CS) command can be used to remove previous VP and CR commands which were stored in the
buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops motion at the
specified deceleration. AB1 aborts the motion instantaneously.
buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops motion at the
specified deceleration. AB1 aborts the motion instantaneously.
The Vector End (VE) command must be used to specify the end of the coordinated motion. This command requires
the controller to decelerate to a stop following the last motion requirement. If a VE command is not given, an Abort
(AB1) must be used to abort the coordinated motion sequence.
the controller to decelerate to a stop following the last motion requirement. If a VE command is not given, an Abort
(AB1) must be used to abort the coordinated motion sequence.
It is the responsibility of the user to keep enough motion segments in the DMC-1700/1800 sequence buffer to ensure
continuous motion. If the controller receives no additional motion segments and no VE command, the controller
will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the
available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is empty and 511
segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer
is not full, additional segments can be sent at PC bus speeds.
continuous motion. If the controller receives no additional motion segments and no VE command, the controller
will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the
available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is empty and 511
segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer
is not full, additional segments can be sent at PC bus speeds.
The operand _CS can be used to determine the value of the segment counter.
Additional commands
The commands VS n, VA n and VD n are used for specifying the vector speed, acceleration, and deceleration.
VT is the s curve smoothing constant used with coordinated motion.
Specifying Vector Speed for Each Segment:
The vector speed may be specified by the immediate command VS. It can also be attached to a motion segment
with the instructions
with the instructions
VP x,y < n >m
CR r,
CR r,
θ,δ < n >m
The first command, <n, is equivalent to commanding VSn at the start of the given segment and will cause an
acceleration toward the new commanded speeds, subjects to the other constraints.
acceleration toward the new commanded speeds, subjects to the other constraints.
The second function, > m, requires the vector speed to reach the value m at the end of the segment. Note that the
function > m may start the deceleration within the given segment or during previous segments, as needed to meet the
final speed requirement, under the given values of VA and VD.
function > m may start the deceleration within the given segment or during previous segments, as needed to meet the
final speed requirement, under the given values of VA and VD.
Note, however, that the controller works with one > m command at a time. As a consequence, one function may be
masked by another. For example, if the function >100000 is followed by >5000, and the distance for deceleration is
not sufficient, the second condition will not be met. The controller will attempt to lower the speed to 5000, but will
reach that at a different point.
masked by another. For example, if the function >100000 is followed by >5000, and the distance for deceleration is
not sufficient, the second condition will not be met. The controller will attempt to lower the speed to 5000, but will
reach that at a different point.
Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001. This
command takes effect immediately and causes VS scaled. VR also applies when the vector speed is specified with
the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the accelerations. For example,
VR .5 results in the specification VS 2000 to be divided By two
command takes effect immediately and causes VS scaled. VR also applies when the vector speed is specified with
the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the accelerations. For example,
VR .5 results in the specification VS 2000 to be divided By two