Galil DMC-2X00 user manual

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 B axis.

Under these conditions, this IP command is equivalent to:

PR,10	Specify position relative movement of 10 on B axis
BGB	Begin motion on B axis

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

Synchronize two conveyor belts with trapezoidal velocity correction.

Instruction	Interpretation
GA,A	Define A as the master axis for B.
GR,2	Set gear ratio 2:1 for B
PR,300	Specify correction distance
SP,5000	Specify correction speed
AC,100000	Specify correction acceleration
DC,100000	Specify correction deceleration
BGB	Start correction

Electronic Cam

The electronic cam is a motion control mode which enables the periodic synchronization of several axes of motion. Up to 7 axes can be slaved to one master axis. The master axis encoder must be input through a main encoder port.

The electronic cam is a more general type of electronic gearing which allows a table-based relationship between the axes. It allows synchronizing all the controller axes. For example, the DMC-2x80 controller may have one master and up to seven slaves.

To illustrate the procedure of setting the cam mode, consider the cam relationship for the slave axis B, when the master is A. Such a graphic relationship is shown in Figure 6.4.

Step 1. Selecting the master axis

The first step in the electronic cam mode is to select the master axis. This is done with the instruction

EAp where p = A,B,C,D p is the selected master axis

For the given example, since the master is x, we specify EAA Step 2. Specify the master cycle and the change in the slave axes.

In the electronic cam mode, the position of the master is always expressed modulo one cycle. In this example, the position of x is always expressed in the range between 0 and 6000. Similarly, the slave position is also redefined such that it starts at zero and ends at 1500. At the end of a cycle when the master is 6000 and the slave is 1500, the positions of both A and B are redefined as zero. To specify the master cycle and the slave cycle change, we use the instruction EM.

EM a,b,c,d

where a,b,c,d specify the cycle of the master and the total change of the slaves over one cycle.

50 • Chapter 6 Programming Motion DMC-2X00