Galil DMC-13X8 user manual Electronic Cam, Example Gantry Mode

MO Z	Turn Z off, for external master
GA Z, Z	Specify Z as the master axis for both X and Y.
GR 1.132,-.045	Specify gear ratios

Now suppose the gear ratio of the X-axis is to change on-the-fly to 2. This can be achieved by commanding:

GR 2 Specify gear ratio for X axis to be 2

Example - Gantry Mode

In applications where both the master and the follower are controlled by the DMC-13X8 controller, it may be desired to synchronize the follower with the commanded position of the master, rather than the actual position. This eliminates the coupling between the axes which may lead to oscillations.

For example, assume that a gantry is driven by two axes, X,Y, on both sides. This requires the gantry mode for strong coupling between the motors. The X-axis is the master and the Y-axis is the follower. To synchronize Y with the commanded position of X, use the instructions:

GA, CX	Specify the commanded position of X as master for Y.
GR,1	Set gear ratio for Y as 1:1
GM,1	Set gantry mode
PR 3000	Command X motion
BG X	Start motion on X axis

You may also perform profiled position corrections in the electronic gearing mode. Suppose, for example, that you need to advance the slave 10 counts. Simply command

IP ,10 Specify an incremental position movement of 10 on Y axis.

Under these conditions, this IP command is equivalent to:

PR,10	Specify position relative movement of 10 on Y axis
BGY	Begin motion on Y axis

Often the correction is quite large. Such requirements are common when synchronizing cutting knives or conveyor belts.

Example - Synchronize two conveyor belts with trapezoidal velocity correction.

GA,X	Define X as the master axis for Y.
GR,2	Set gear ratio 2:1 for Y
PR,300	Specify correction distance
SP,5000	Specify correction speed
AC,100000	Specify correction acceleration
DC,100000	Specify correction deceleration
BGY	Start correction

Electronic Cam

The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion. Up to 3 axes can be slaved to one master axis. The master axis encoder must be input through a main encoder port.

USER MANUAL Chapter 6 Programming Motion • 79