Galil Motion Control DMC-1000 User Manual page 15

Chapter 6 Programming Motion
Overview..................................................................................................................................45
Independent Axis Positioning..................................................................................................45
Independent Jogging................................................................................................................47
Linear Interpolation Mode .......................................................................................................49
Vector Mode: Linear and Circular Interpolation Motion.........................................................54
Electronic Gearing ...................................................................................................................58
Electronic Cam ........................................................................................................................61
Contour Mode..........................................................................................................................66
Stepper Motor Operation .........................................................................................................71
Dual Loop (Auxiliary Encoder)...............................................................................................73
Motion Smoothing ...................................................................................................................76
Homing ....................................................................................................................................78
High Speed Position Capture (Latch) ......................................................................................81
Chapter 7 Application Programming
Overview..................................................................................................................................83
Using the DMC-1000 Editor to Enter Programs......................................................................83
Program Format .......................................................................................................................85
Executing Programs - Multitasking .........................................................................................87
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Command Summary - Independent Axis ..................................................................46
Operand Summary - Independent Axis .....................................................................46
Command Summary - Jogging ..................................................................................48
Operand Summary - Independent Axis .....................................................................48
Specifying Linear Segments......................................................................................49
Specifying Vector Acceleration, Deceleration and Speed:........................................50
Additional Commands...............................................................................................50
Command Summary - Linear Interpolation...............................................................51
Operand Summary - Linear Interpolation..................................................................51
Specifying Vector Segments .....................................................................................54
Specifying Vector Acceleration, Deceleration and Speed:........................................55
Additional Commands...............................................................................................55
Command Summary - Vector Mode Motion.............................................................57
Operand Summary - Vector Mode Motion................................................................57
Command Summary - Electronic Gearing.................................................................59
Operand Summary - Electronic Gearing ...................................................................59
Specifying Contour Segments ...................................................................................66
Additional Commands...............................................................................................67
Command Summary - Contour Mode .......................................................................68
Operand Summary - Contour Mode ..........................................................................68
Specifying Stepper Motor Operation.........................................................................71
Using an Encoder with Stepper Motors.....................................................................72
Command Summary - Stepper Motor Operation.......................................................73
Operand Summary - Stepper Motor Operation .........................................................73
Backlash Compensation ............................................................................................74
Command Summary - Using the Auxiliary Encoder.................................................75
Operand Summary - Using the Auxiliary Encoder....................................................76
Using the IT and VT Commands (S curve profiling):...............................................76
Using the KS Command (Step Motor Smoothing):...................................................77
Edit Mode Commands ...............................................................................................84
Using Labels in Programs .........................................................................................85
Special Labels............................................................................................................86
Commenting Programs ..............................................................................................86
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DMC-1000