Galil DMC-13X8 Linear Interpolation Mode, Specifying Linear Segments, Example Joystick Jogging

AC 20000,,20000	Specify X,Z acceleration of 20000 cts / sec
DC 20000,,20000	Specify X,Z deceleration of 20000 cts / sec
JG 50000,,-25000	Specify jog speed and direction for X and Z axis
BG X	Begin X motion
AS X	Wait until X is at speed
BG Z	Begin Z motion
EN

Example - Joystick Jogging

The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10 Volt input the speed must be 50000 counts/sec.

#JOY	Label
JG0	Set in Jog Mode
BGX	Begin motion
#B	Label for loop
V1 =@AN[1]	Read analog input
VEL=V1*50000/10	Compute speed
JG VEL	Change JG speed
JP #B	Loop

Linear Interpolation Mode

The DMC-13X8 provides a linear interpolation mode for 2 or more axes. In linear interpolation mode, motion between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration along the specified path. The motion path is described in terms of incremental distances for each axis. An unlimited number of incremental segments may be given in a continuous move sequence, making the linear interpolation mode ideal for following a piece-wise linear path. There is no limit to the total move length.

The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM YZ selects only the Y and Z axes for linear interpolation.

When using the linear interpolation mode, the LM command only needs to be specified once unless the axes for linear interpolation change.

Specifying Linear Segments

The command LI x,y,z,w specifies the incremental move distance for each axis. This means motion is prescribed with respect to the current axis position. Up to 511 incremental move segments may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI segments may be sent to the controller.

The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the command AB1 aborts the motion only.

The Linear End (LE) command must be used to specify the end of a linear move sequence. This command tells the controller to decelerate to a stop following the last LI command. If an LE command is not given, an Abort AB1 must be used to abort the motion sequence.

Chapter 6 Programming Motion • 68 USER MANUAL