between these two values is stored in the _GPn operand. If exact position synchronization is required, the IP command is used to adjust for the difference.

Command Summary - Electronic Gearing

COMMAND

DESCRIPTION

 

 

GA n

Specifies master axes for gearing where:

 

n = X,Y,Z or W or A,B,C,D,E,F,G,H for main encoder as master

 

 

 

n = CX,CY,CZ, CW or CA, CB,CC,CD,CE,CF,CG,CH for commanded position.

 

 

 

n = DX,DY,DZ or DW or DA, DB, DC, DD, DE, DF,DG,DH for auxiliary encoders

 

 

 

n = S or T for gearing to coordinated motion.

 

 

GD a,b,c,d,e,f,g,h

Sets the distance the master will travel for the gearing change to take full effect.

_GPn

This operand keeps track of the difference between the theoretical distance traveled if

 

gearing changes took effect immediately, and the distance traveled since gearing

 

changes take effect over a specified interval.

GR a,b,c,d,e,f,g,h

Sets gear ratio for slave axes. 0 disables electronic gearing for specified axis.

 

 

GM a,b,c,d,e,f,g,h

X = 1 sets gantry mode, 0 disables gantry mode

MR x,y,z,w

Trippoint for reverse motion past specified value. Only one field may be used.

 

 

MF x,y,z,w

Trippoint for forward motion past specified value. Only one field may be used.

 

 

 

 

Example - Simple Master Slave

Master axis moves 10000 counts at slew speed of 100000 counts/sec. Y is defined as the master. X,Z,W are geared to master at ratios of 5,-.5 and 10 respectively.

GA Y,,Y,Y

Specify master axes as Y

GR 5,,-.5,10

Set gear ratios

PR ,10000

Specify Y position

SP ,100000

Specify Y speed

BGY

Begin motion

Example - Electronic Gearing

Objective: Run two geared motors at speeds of 1.132 and -0.045 times the speed of an external master. The master is driven at speeds between 0 and 1800 RPM (2000 counts/rev encoder).

Solution: Use a DMC-1730 or DMC-1830 controller, where the Z-axis is the master and X and Y are the geared axes.

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-1700/1800 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.

DMC-1700/1800

Chapter 6 Programming Motion • 107

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Galil DMC-1700 Command Summary Electronic Gearing, Example Simple Master Slave, Example Electronic Gearing, Ga Y,,Y,Y
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DMC-1800, DMC-1700 specifications

The Galil DMC-1700 and DMC-1800 are advanced motion controllers widely recognized for their high performance and versatility in the automation and robotics industries. These controllers are designed to meet the demands of complex motion control applications, providing users with enhanced features and innovative technologies that optimize motion precision and efficiency.

One of the main features of the Galil DMC-1700 is its ability to handle up to 8 axes of motion control. This capability makes it suitable for a range of applications, from simple point-to-point movements to intricate trajectories in multi-axis systems. In contrast, the DMC-1800 extends this functionality, supporting up to 64 axes, making it ideal for large-scale automation environments.

Both models leverage Galil's powerful programming interface, which simplifies the development of motion control applications. The DMC-1700 and DMC-1800 controllers utilize a high-level programming language that supports advanced motion commands, including linear interpolation, circular interpolation, and complex motion profiles. This feature allows users to implement sophisticated motion sequences seamlessly.

In terms of connectivity, the Galil DMC series offers multiple communication options, including Ethernet, RS-232, and CAN bus, ensuring compatibility with various hardware and enabling easy integration into existing systems. The controllers also come equipped with digital and analog I/O ports, providing flexibility for sensor feedback and actuator control.

The advanced technology incorporated into both the DMC-1700 and DMC-1800 includes on-board PID control, which ensures precise motion control through closed-loop feedback. This results in improved stability and accuracy, particularly in high-speed applications. Additionally, the controllers offer extensive diagnostics and monitoring capabilities, allowing for real-time performance analysis and troubleshooting.

Another notable characteristic of these motion controllers is their compact design, which offers space-saving advantages while maintaining high processing power. Their robust construction and ability to operate in challenging environments make them suitable for a wide range of industrial applications, from CNC machining to assembly lines.

In conclusion, the Galil DMC-1700 and DMC-1800 motion controllers stand out due to their high-performance capabilities, advanced programming features, and flexibility in connectivity. With their ability to handle complex motion control tasks efficiently, these controllers are invaluable tools for engineers and manufacturers looking to enhance their automation processes. By integrating Galil's innovative motion control technology, industries can achieve greater precision, speed, and reliability in their operational workflows.
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