Galil Motion Control DMC-1000 User Manual page 79

GR 5,,-.5,10
PR ,10000
SP ,100000
BGY
Objective: Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master.
The master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).
Solution: Use a DMC-1030 controller, where the Z-axis is the master and X and Y are the geared
axes.
MO Z
GA Z
GR 1.132,-.045
Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by
commanding:
GR 2
In applications where both the master and the follower are controlled by the DMC-1000 controller, it
may be desired to synchronize the follower with the commanded position of the master, rather than the
actual position. This eliminates the coupling between the axes which may lead to oscillations.
For example, assume that a gantry is driven by two axes, X,Y, on both sides. 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 XC
GR,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.
GAX
GR,2
PR,300
SP,5000
AC,100000
DC,100000
BGY
60 • Chapter 6 Programming Motion
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Set gear ratios
Specify Y position
Specify Y speed
Begin motion
Example - Electronic Gearing
Turn Z off, for external master
Specify master axis
Specify gear ratios
Specify gear ratio for X axis to be 2
Specify master as commanded position of X
Set gear ratio for Y as 1:1
Command X motion
Start motion on X axis
Specify an incremental position movement of 10 on Y axis.
Specify position relative movement of 10 on Y axis
Begin motion on Y axis
Example - Synchronize two conveyor belts with trapezoidal
velocity correction.
Define master axis as X
Set gear ratio 2:1 for Y
Specify correction distance
Specify correction speed
Specify correction acceleration
Specify correction deceleration
Start correction
DMC-1000