Chapter 6 Programming Motion; Overview; Independent Axis Positioning - Galil Motion Control DMC-1000 User Manual

Chapter 6 Programming Motion

Overview

The DMC-1000 can be commanded to do the following modes of motion: Absolute and relative
independent positioning, jogging, linear interpolation (up to 8 axes), linear and circular interpolation
(2 axes with 3
These modes are discussed in the following sections.
The DMC-1010 is a single axis controller and uses X-axis motion only. Likewise, the DMC-1020
uses X and Y, the DMC-1030 uses X,Y and Z, and the DMC-1040 uses X,Y,Z and W. The DMC-
1050 uses A,B,C,D, and E. The DMC-1060 uses A,B,C,D,E, and F. The DMC-1070 uses
A,B,C,D,E,F and G. The DMC-1080 uses the axes A,B,C,D,E,F,G, and H.
The example applications described below will help guide you to the appropriate mode of motion.
For controllers with 5 or more axes, the specifiers, ABCDEFGH, are used. XYZ and W may be
1080
interchanged with ABCD.

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-1000
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-1000 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 when the profiler is finished, not when the actual motor is in position. The Stop
command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final
position.
An incremental position movement (IP) may be specified during motion as long as the additional move
is in the same direction. Here, the user specifies the desired position increment, n. The new target is
equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be
generated for motion towards the new end position. The IP command does not require a begin. Note:
If the motor is not moving, the IP command is equivalent to the PR and BG command combination.
DMC-1000
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axis of tangent motion), electronic gearing, electronic cam motion and contouring.
Chapter 6 Programming Motion • 45