Operand Summary - Independent Axis; Linear Interpolation Mode; Specifying Linear Segments - Galil Motion Control DMC-18 2 Series User Manual

JG +/-x,y,z,w
ST XYZW
Parameters can be set with individual axis specifiers such as JGY=2000 (set jog speed for Y axis to
2000) or ACYH=400000 (set acceleration for Y and H axes to 400000).

Operand Summary - Independent Axis

OPERAND
_ACx
_DCx
_SPx
_TVx
Example - Jog in X only
Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at
25000 count/s.
#A
AC 20000,,20000
DC 20000,,20000
JG 50000,,-25000
BG X
AS X
BG Z
EN

Linear Interpolation Mode

The DMC-18x2 provides a linear interpolation mode for 2 or more 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.
The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM
YZ selects only the Y and Z axes for linear interpolation.
When using the linear interpolation mode, the LM command only needs to be specified once unless the
axes for linear interpolation change.

Specifying Linear Segments

The command LI x,y,z,w 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 or BGT) command. Once motion has begun, additional LI
segments may be sent to the controller.
72 ● Chapter 6 Programming Motion
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Specifies jog speed and direction
Stops motion
DESCRIPTION
Return acceleration rate for the axis specified by 'x'
Return deceleration rate for the axis specified by 'x'
Returns the jog speed for the axis specified by 'x'
Returns the actual velocity of the axis specified by 'x' (averaged over .25 sec)
Specify X,Z acceleration of 20000 cts / sec
Specify X,Z deceleration of 20000 cts / sec
Specify jog speed and direction for X and Z axis
Begin X motion
Wait until X is at speed
Begin Z motion
DMC-18x2