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

Page 64
Image 64
Galil DMC-13X8 user manual Independent Axis Positioning