Galil DMC-1800, DMC-1700 user manual Electronic Gearing, C -4000,3000D 0,3000 R =, B -4000,0, A 0,0

CR 1500,270,-180	Segment BC
VP 0,3000	Segment CD
CR 1500,90,-180	Segment DA
VE	End of sequence
BGS	Begin Sequence

The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

The value of _AV is 2000 The value of _CS is 0

_VPX and _VPY contain the absolute coordinate of the point A

Suppose that the interrogation is repeated at a point, halfway between the points C and D. The value of _AV is 4000+1500π+2000=10,712

The value of _CS is 2

_VPX,_VPY contain the coordinates of the point C

C (-4000,3000)D (0,3000)

R = 1500

B (-4000,0) A (0,0)

Figure 6.3 - The Required Path

Electronic Gearing

This mode allows up to 8 axes to be electronically geared to some master axes. The masters may rotate in both directions and the geared axes will follow at the specified gear ratio. The gear ratio may be different for each axis and changed during motion.

The command GAX yzw or GA ABCDEFGH specifies the master axes. GR x,y,z,w specifies the gear ratios for the slaves where the ratio may be a number between +/-127.9999 with a fractional resolution of .0001. There are two modes: standard gearing and gantry mode. The gantry mode (enabled with the command GM) allows the gearing to stay enabled even if a limit is hit or an ST command is issued. GR 0,0,0,0 turns off gearing in both modes.

The command GM x,y,z,w select the axes to be controlled under the gantry mode. The parameter 1 enables gantry mode, and 0 disables it.

GR causes the specified axes to be geared to the actual position of the master. The master axis is commanded with motion commands such as PR, PA or JG.

When the master axis is driven by the controller in the jog mode or an independent motion mode, it is possible to define the master as the command position of that axis, rather than the actual position. The designation of the commanded position master is by the letter, C. For example, GACX indicates that the gearing is the commanded position of X.

104 • Chapter 6 Programming Motion DMC-1700/1800