Coordinated Motion with more than 1 axis, BG Xyzw | Galil DMC-13X8

To view the current values for each command, type the command followed by a ? for each axis requested.

PR 1000	Specify X only as 1000
PR ,2000	Specify Y only as 2000
PR ,,3000	Specify Z only as 3000
PR ,,,4000	Specify W only as 4000
PR 2000, 4000,6000, 8000	Specify X Y Z and W
PR ,8000,,9000	Specify Y and W only
PR ?,?,?,?	Request X,Y,Z,W values
PR ,?	Request Y value only

The DMC-13X8 provides an alternative method for specifying data. Here data is specified individually using a single axis specifier such as X,Y,Z or W. An equals sign is used to assign data to that axis. For example:

PRX=1000	Specify a position relative movement for the X axis of 1000
ACY=200000	Specify acceleration for the Y axis as 200000

Instead of data, some commands request action to occur on an axis or group of axes. For example, ST XY stops motion on both the X and Y axes. Commas are not required in this case since the particular axis is specified by the appropriate letter X Y Z or W. If no parameters follow the instruction, action will take place on all axes. Here are some examples of syntax for requesting action:

BG X	Begin X only
BG Y	Begin Y only
BG XYZW	Begin all axes
BG YW	Begin Y and W only
BG	Begin all axes

Coordinated Motion with more than 1 axis

When requesting action for coordinated motion, the letter S or T is used to specify the coordinated motion. This allows for coordinated motion to be setup for two separate coordinate systems. Refer to the CA command in the Command Reference for more information on specifying a coordinate system. For example:

BG S	Begin coordinated sequence on S coordinate system.
BG TW	Begin coordinated sequence on T coordinate system and W axis

Chapter 5 Command Basics • 56

USER MANUAL

Image 56

Galil DMC-13X8 user manual Coordinated Motion with more than 1 axis, BG Xyzw, Bg S, Bg Tw

Contents

DMC-13X8 Using This Manual Contents Connecting Hardware Programming Motion Hardware & Software Protection 149 DAC ZOH Index 207 Overview IntroductionOverview of Motor Types Standard Servo Motor with +/- 10 Volt Command Signal Stepper Motor with Step and Direction SignalsDMC-13X8 Functional Elements Brushless Servo Motor with Sinusoidal Commutation Microcomputer Section Motor InterfaceCommunication General I/O Amplifier Driver System ElementsMotor Watch Dog Timer Encoder This page Left Blank Intentionally DMC-13X8 Motion Controller Getting Started Elements You Need JP9 Installing the DMC-13X8 Determine Overall Motor ConfigurationStandard Servo Motor Operation Sinusoidal Commutation Install Jumpers on the DMC-13X8 Install the DMC-13X8 in the VME Host Establish Communication with the Galil controllerDetermine the Axes to be Used for Sinusoidal Commutation Optional Motor Off Jumpers Make Connections to Amplifier and Encoder Baxz Getting Started Connect Standard Servo Motors Check the Polarity of the Feedback Loop TTX CR Inverting the Loop PolarityBGX CR DC Power Supply DC Brush Connect Sinusoidal Commutation Motors If Hall Sensors are Available If Hall Sensors are Not Available SHX BGXAMX BCX Connect Step Motors Tune the Servo System Design Examples Example 1 System Set-upTE X CR InstructionInterpretation Example 2 Profiled Move Example 3 Multiple AxesExample 4 Independent Moves Example 5 Position Interrogation Example 6 Absolute Position Example 7 Velocity Control Example 10 Operation in the Buffer Mode Example 11 Using the On-Board EditorExample 8 Operation Under Torque Limit Example 9 Interrogation Example 12 Motion Programs with Loops Example 13 Motion Programs with Trippoints Example 16 Circular Interpolation Example 14 Control VariablesExample 15 Linear Interpolation VM XY Motion Path for Example Using Optoisolated Inputs Limit Switch InputConnecting Hardware Overview Home Switch Input Abort Input Uncommitted Digital Inputs Wiring the Optoisolated InputsGroup Controllers with 1- 4 Axes Common Signal Using an Isolated Power Supply Optoisolated Inputs Bypassing the Opto-Isolation Analog InputsAmplifier Interface TTL Inputs ICM-1900/2900 TTL Outputs This page Left Blank Intentionally Communication with Controller Communication RegistersAM5 AM4 AM3 AM2 AM1 AM0 Register Description Address Read/Write Simplified Communication Procedure Advanced Communication Techniques Polling Fifo Polling Mode Read ProcedureCommunication with Controller Secondary Fifo channel Overview of Secondary Fifo Procedure DMA / Secondary Fifo Memory MapOperation Register address Value Addr Type Error code Axis Switch Information 1 Byte General Status Information 1 ByteAxis Status Information 2 Byte BIT Interrupts Setting up InterruptsConfiguring Interrupts Bit Number m Condition Bit number n Input Servicing Interrupts Example InterruptsBGY Hex Data Condition Controller Response to Data UI1 Command Syntax Ascii Command Basics Coordinated Motion with more than 1 axis BG XyzwBG S BG TW Command Syntax Binary Binary Command FormatHeader Format Datafields Format Binary command table CommandExample LE, VE Interrogation Commands Interrogating the Controller Summary of Interrogation Commands Interrogating Current Commanded ValuesOperands =TPX Command Summary This page Left Blank Intentionally Example Application Mode of Motion Commands Programming Motion Independent Axis Positioning Command Summary Independent Axis Operand Summary Independent AxisExample Absolute Position Movement Example Multiple Move Sequence Velocity COUNTS/SEC Axis velocity profile Example Jog in X only Command Summary JoggingIndependent Jogging Example Joystick Jogging Linear Interpolation ModeSpecifying Linear Segments Additional Commands An Example of Linear Interpolation MotionSpecifying Vector Speed for Each Segment #LMOVE Command Summary Linear Interpolation Changing Feedrate#ALT LM? LM ZW Operand Summary Linear InterpolationExample Linear Move COUNT=0 Example Multiple Moves#LOAD Specifying Vector Segments Vector Mode Linear and Circular Interpolation MotionSpecifying the Coordinate Plane Additional commands Tangent Motion Compensating for Differences in Encoder ResolutionTrippoints Command Summary Coordinated Motion Sequence Operand Summary Coordinated Motion Sequence Electronic Gearing Required Path Command Summary Electronic Gearing Command DescriptionExample Simple Master Slave Example Electronic Gearing Example Gantry Mode Electronic Cam EAp where p = X,Y,Z,W Is the selected master axis Programming Motion 3000 2250 1500 2000 4000 6000 Master Command Summary Electronic CAM Instruction Interpretation Operand Description Operand Summary Electronic CAMExample Electronic CAM Contour Mode Specifying Contour Segments CMX DT0CD0 Command Summary Contour Mode Operand Summary Contour ModeGeneral Velocity Profiles Generating an Array An Example Contour Mode Example Instruction Interpretation#POINTS POSC=V4 Teach Record and Play-Back Record and Playback Example BGN Virtual AxisAC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP Monitoring Generated Pulses vs Commanded Pulses Stepper Motor OperationSpecifying Stepper Motor Operation Stepper Motor Smoothing Using an Encoder with Stepper Motors Motion Complete Trippoint Operand Summary Stepper Motor Operation Stepper Position Maintenance Mode SPMCommand Summary Stepper Motor Operation Correction Error LimitExample SPM Mode Setup Example Error Correction Half-Stepping Drive, X axis #MOTION Example Friction Correction #LOOP Using the CE Command Additional Commands for the Auxiliary EncoderDual Loop Auxiliary Encoder = Main Encoder Second Encoder Backlash Compensation Continuous Dual Loop ExampleSampled Dual Loop Example #DUALOOP Example Smoothing Using the IT and VT CommandsMotion Smoothing Using the KS Command Step Motor Smoothing Trapezoidal velocity and smooth velocity profiles Homing Motion intervals in the Home sequence Command Summary Homing Operation High Speed Position Capture The Latch FunctionOperand Summary Homing Operation FE Xyzw FI Xyzw HM Xyzw SC Xyzw TS Xyzw Fast Update Rate Mode AL Y This page Left Blank Intentionally Application Programming Using the DMC-13X8 Editor to Enter ProgramsED #BEGIN Return Edit Mode CommandsProgram Format Using Labels in Programs Special Labels#BEGIN #SQUARE #BEGIN1 Using the command, no Executing Programs MultitaskingCommenting Programs No Bottom Line Trace Commands Debugging Programs Error Code Command Stop Code CommandRAM Memory Interrogation Commands Operands Program Flow Commands Event Triggers & Trippoints DMC-13X8 and DMC-13X8 Event Triggers Function Event Trigger Examples Event Trigger Multiple Move SequenceEvent Trigger Set Output after Distance Event Trigger Repetitive Position Trigger Event Trigger Change Speed along Vector Path Event Trigger Set output when At speedEvent Trigger Start Motion on Input Event Trigger Multiple Move with Wait Define Output Waveform Using ATConditional Jumps Command Format JP and JS Logical operatorsConditional Statements Multiple Conditional Statements Using If, Else, and Endif Commands Using the JP CommandExample Using JP command Using the if and Endif Commands Using the Else Command Command Format IF, Else and EndifExample using IF, Else and Endif Nesting if Conditional Statements Auto-Start Routine SubroutinesStack Manipulation Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Subroutine Description Example Motion Complete Timeout Example Input Interrupt Operand Function Example Command ErrorExample Command Error w/Multitasking Mathematical and Functional Expressions Mathematical OperatorsBit-Wise Operators Operator Function Functions ENTER,LENS6FLEN=@FRACLEN LEN1=FLEN&$00FF Variables Programmable VariablesPosx POS1 Speedz Reallongname Example Using Variables for Joystick Assigning Values to VariablesAssigning Variable Values to Controller Parameters Displaying the value of variables at the terminal Operands Special Operands KeywordsExamples of Internal Variables Examples of Keywords Using a Variable to Address Array Elements ArraysDefining Arrays Assignment of Array Entries Uploading and Downloading Arrays to On Board Memory Command Summary Automatic Data CaptureAutomatic Data Capture into Arrays Data Types for Recording Operand Summary Automatic Data CaptureExample Recording into An Array Data Type Description Input of Data Numeric and String Deallocating Array SpaceInput of Data An Example for Inputting Numeric Data Output of Data Numeric and String Sending MessagesInputting String Variables Formatting Messages Summary of Message Functions Using the MG Command to Configure TerminalsDisplaying Variables and Arrays BL ? LE ? DE ? PA ? DP ? PR ? EM ? Local Formatting of Response of Interrogation Commands Formatting Variables and Array ElementsLocal Formatting of Variables LZ0 Digital Outputs Hardware I/OConverting to User Units Digital Inputs Instruction Function Examples Input Interrupt Example Start Motion on SwitchInput Interrupt Function Example Position Follower Continuous Move Analog InputsExample Position Follower Point-to-Point JP #A Wire CutterExample Applications Motor Velocity and the Associated Input/Output signals Table Controller BGZ AMZBGZ AMZ BGS AMS Speed Control by Joystick Position Control by Joystick Backlash Compensation by Sampled Dual-LoopJG VEL JP #B DP0 LINPOS=0 LIN POS = DEXER=1000-LINPOS-TEX PR ER This page Left Blank Intentionally Hardware & Software Protection Hardware ProtectionOutput Protection Lines Signal or Function State if Error Occurs Software ProtectionInput Protection Lines Programmable Position Limits Off-On-Error Automatic Error RoutineLimit Switch Routine #AJP #AEN V2=LRX JP#END#LF Stxamx Installation Symptom Diagnosis CauseTroubleshooting Remedy Communication Stability Operation This page Left Blank Intentionally Theory of Operation Theory of Operation Level Operation of Closed-Loop Systems Velocity and Position Profiles System Modeling Motor-Amplifier Voltage Drive Current Drive Velocity Loop Voltage Source DAC Digital Filter System Analysis ZOH Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V System Design and Compensation Analytical Method Kd = 10/32768 = Encoder Kf = 4N/2π = Theory of Operation PID, T Equivalent Filter FormKP, KD, KI, PL Electrical Specifications Servo ControlStepper Control Input/Output Performance Specifications Power PIN High Density Auxiliary Encoders 26-PIN IDC Connectors for DMC-13X8 Main BoardJ1 DMC-13X8 A-D Axes Main J5-DMC-13X8 A-D Axes Pin-Out Description for DMC-13X8 PWM/STEP OUT Accessories and Options ICM-1900 Interconnect Module Terminal # Label Description Error Reset+ABY ABY Rlsx FlsxXlatch Ylatch INY +MAZMAZ +MBZ AMP-19X0 Mating Power Amplifiers ICM-1900 Drawing OUT GND ICM-2900 Interconnect ModuleOUT PWR ANA GND ANALOG5ANALOG6 ANALOG7 ANALOG1 ANALOG2ANALOG3 ANALOG4 Standard Opto-isolation and High Current Opto-isolation Opto-Isolated Outputs ICM-1900 / ICM-2900 -Opto optionExtended I/O of the DMC-13X8 Controller Configuring the I/O of the DMC-13X8 Accessing extended I/OSaving the State of the Outputs in Non-Volatile Memory BIT I/O Block Binary Representation Decimal Value for Block Connector Description PIN Signal BlockBIT @INn BIT # GND @OUTn IOM-1964 Opto-Isolation Module for Extended I/O Controllers Description Configuring Hardware Banks Overview For example, here is the layout of bank Input Circuit Sinking Sourcing High Power Digital Outputs Standard Digital Outputs Internal Pullup Electrical Specifications High Power Digital OutputsDigital Inputs Standard Digital Outputs Terminal Label Description Relevant DMC CommandsScrew Terminal Listing Appendices Coordinated Motion Mathematical Analysis Vs = Vx 2 + Vy Velocity Tt = VSD + Ta = 0.407s DMC-13X8/DMC-1300 Comparison List of Other PublicationsBenefit DMC-13X8 Training Seminars WHO should Attend Contacting Us Galil Motion Control Warranty 206 Index LimswiPoserr Address ... 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