Independent Axis Positioning - Galil Motion Control DMC-18 2 Series User Manual

Electronic gearing where slave axes are scaled to
master axis which can move in both directions.
Master/slave where slave axes must follow a
master such as conveyer speed.
Moving along arbitrary profiles or mathematically
prescribed profiles such as sine or cosine
trajectories.
Teaching or Record and Play Back
Backlash Correction
Following a trajectory based on a master encoder
position
Smooth motion while operating in independent axis
positioning
Smooth motion while operating in vector or linear
interpolation positioning
Smooth motion while operating with stepper
motors
Gantry - two axes are coupled by gantry

Independent Axis Positioning

In this mode, motion between the specified axes is independent, and each axis follows its own profile.
The user specifies the desired absolute position (PA) or relative position (PR), slew speed (SP),
acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-18x2
profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory.
The controller determines a new command position along the trajectory every sample period until the
specified profile is complete. Motion is complete when the last position command is sent by the
DMC-18x2 profiler. Note: The actual motor motion may not be complete when the profile has been
completed, however, the next motion command may be specified.
The Begin (BG) command can be issued for all axes either simultaneously or independently. XYZ or
W axis specifiers are required to select the axes for motion. When no axes are specified, this causes
motion to begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion, however, the
deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember,
motion is complete (AM) when the profiler is finished, not when the actual motor is in position. The
68 ● Chapter 6 Programming Motion
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Electronic Gearing
Electronic Gearing
Contour Mode
Contour Mode with Automatic Array
Capture
Dual Loop
Electronic Cam
Independent Motion Smoothing
Vector Smoothing
Stepper Motor Smoothing
Gantry Mode
GA
GR
GM (if gantry)
GA
GR
CM
CD
DT
WC
CM
CD
DT
WC
RA
RD
RC
DV
EA
EM
EP
ET
EB
EG
EQ
IT
VT
KS
GR
GM
DMC-18x2