Galil DMC-13X8 user manual Independent Axis Positioning

Electronic gearing where slave axes are scaled to master axis	Electronic Gearing	GA
which can move in both directions.		GR
		GM (if gantry)
Master/slave where slave axes must follow a master such as	Electronic Gearing	GA
conveyer speed.		GR
Moving along arbitrary profiles or mathematically	Contour Mode	CM
prescribed profiles such as sine or cosine trajectories.		CD
		DT
		WC
Teaching or Record and Play Back	Contour Mode with Automatic Array Capture	CM
		CD
		DT
		WC
		RA
		RD
		RC
Backlash Correction	Dual Loop	DV
Following a trajectory based on a master encoder position	Electronic Cam	EA
		EM
		EP
		ET
		EB
		EG
		EQ
Smooth motion while operating in independent axis	Independent Motion Smoothing	IT
positioning
Smooth motion while operating in vector or linear	Vector Smoothing	VT
interpolation positioning
Smooth motion while operating with stepper motors	Stepper Motor Smoothing	KS
Gantry - two axes are coupled by gantry	Gantry Mode	GR
		GM

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-13X8 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-13X8 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

Chapter 6 Programming Motion • 64 USER MANUAL