Galil Motion Control DMC-21 5 Series User Manual page 55

Additional commands
The commands VS, VA, and
is the s curve smoothing constant used with coordinated motion.
IT
Specifying Vector Speed for Each Segment:
The vector speed may be specified by the immediate command VS. It can also be attached to a motion segment
with the instructions
VP n , n < o >p
1 2
CR n , n , n <o>p
1 2 3
The first command, <o, is equivalent to commanding
acceleration toward the new commanded speeds, subjects to the other constraints.
The second function, >p, requires the vector speed to reach the value at the end of the segment. Note that the
function may start the deceleration within the given segment or during previous segments, as needed to meet
>p
the final speed requirement, under the given values of
Note, however, that the controller works with one
masked by another. For example, if the function >100000 is followed by >5000, and the distance for deceleration is
not sufficient, the second condition will not be met. The controller will attempt to lower the speed to 5000, but
will reach that at a different point.
Changing Feed Rate:
The command allows the feed rate, VS, to be scaled between 0 and 10 with a resolution of .0001. This
VR
command takes effect immediately and causes
the < operator. This is a useful feature for feed rate override.
results in the specification
0.5
Compensating for Differences in Encoder Resolution:
By default, the DMC-21x5 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is
not the case, the command,
which represent the number of counts for the two encoders used for vector motion. The smaller ratio of the two
numbers will be multiplied by the higher resolution encoder. For more information, see
Command Reference.
Trippoints:
The command is the After Vector trippoint, which waits for the vector relative distance of n to occur before
AV
executing the next command in a program.
Tangent Motion:
Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the coordinated
motion path. To handle these applications, the DMC-21x5 allows one axis to be specified as the tangent axis. The
command provides parameter specifications for describing the coordinated axes and the tangent axis.
VM
Before the tangent mode can operate, it is necessary to assign an axis via the
and scale factor via the
axis.
Chapter 6 Programming Motion ▫ 50
are used for specifying the vector speed, acceleration, and deceleration.
VD
VS
to be divided by two.
VS 2000
can be used to scale the encoder counts. The
ES
command. The operand
TN
at the start of the given segment and will cause an
VSo
and VD.
VA
command at a time. As a consequence, one function may be
>p
scaled. also applies when the vector speed is specified with
VR
does not ratio the accelerations. For example,
VR
can be used to return the initial position of the tangent
_TN
command accepts two arguments
ES
command in the
ES
command and define its offset
VM
DMC-21x5 User Manual 1.0a1
VR