Electronic Gearing - Galil Motion Control DMC-1000 User Manual

Instruction
VM XY
VS 20000
VA 1000000
VD 1000000
VP -4000,0
CR 1500,270,-180
VP 0,3000
CR 1500,90,-180
VE
BGS
The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we
interrogate the controller when the motion is halfway between the points A and B.
The value of _AV is 2000
The value of _CS is 0
_VPX and _VPY contain the absolute coordinate of the point A
Suppose that the interrogation is repeated at a point, halfway between the points C and D.
The value of _AV is 4000+1500
The value of _CS is 2
_VPX,_VPY contain the coordinates of the point C
Figure 6.3 - The Required Path

Electronic Gearing

This mode allows up to 8 axes to be electronically geared to one master axis. The master may rotate in
both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be
different for each axis and changed during motion.
The command GAX or GAY or GAZ or GAW (or GAA or GAB or GAC or GAD or GAE or GAF or
GAG or GAH for DMC-1080) specifies the master axis. There may only be one master. GR x,y,z,w
specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with a
58 • Chapter 6 Programming Motion
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Interpretation
Specify motion plane
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Segment AB
Segment BC
Segment CD
Segment DA
End of sequence
Begin Sequence
C (-4000,3000)
R = 1500
B (-4000,0)
π
+2000=10,712
D (0,3000)
A (0,0)
DMC-1000