Electronic Cam - Galil Motion Control DMC-14 5 Series Manual

Example - Gantry Mode
In applications where both the master and the follower are controlled by the DMC-1425 controller, it
may be desired to synchronize the follower with the commanded position of the master, rather than the
actual position. This eliminates the possibility of an oscillation on the master passing the oscillation on
to the slave.
For example, assume that a gantry is driven by two axes, X and Y, one on each side. 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:
GA, CX
GR,1
GM,1
PR 3000
BG X
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
IP ,10
Under these conditions, this IP command is equivalent to:
PR,10
BGY
Often the correction is quite large. Such requirements are common when synchronizing cutting knives
or conveyor belts.
Example - Synchronize two conveyor belts with trapezoidal velocity correction.
Instruction
GA,X
GR,2
PR,300
SP,5000
AC,100000
DC,100000
BGY

Electronic Cam

The electronic cam is a motion control mode which enables the periodic synchronization of several
axes of motion. Similar to the gearing mode, the DMC-1425 uses only X and Y main axes as the
master or slave, while the DMC-1415 and DMC-1416 use the auxiliary encoder as the master axis.
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.
To illustrate the procedure of setting the cam mode, consider the cam relationship shown in Figure 6.4.
Step 1. Selecting the master axis. (DMC-1425 only)
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
p is the selected master axis
70 Chapter 6 Programming Motion
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Specify the commanded position of X as master for Y.
Set gear ratio for Y as 1:1
Set gantry mode
Command X motion
Start motion on X axis
Specify an incremental position movement of 10 on the Y axis.
Specify position relative movement of 10 on the Y axis
Begin motion on the Y axis
Interpretation
Define X as the master axis for Y.
Set gear ratio 2:1 for Y
Specify correction distance
Specify correction speed
Specify correction acceleration
Specify correction deceleration
Start correction
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