Galil DMC-3425 user manual Independent Axis Positioning, Vp, Cr

Vector Motion	2-D motion path consisting of arc segments and	VM	NO	YES
	linear segments, such as engraving or quilting.	VP, CR
	Vector velocity, vector acceleration and vector	VS, VA, VD
	deceleration are specified. The vector motion
	follows the prescribed velocity profile.
Electronic Gearing	Motion in which one axis must follow another axis	GA	NO	YES
	such as conveyer speed. Once setup, the slave axis	GR
	will follow the master position.
Contour Mode	1 – 8 axes of motion along arbitrary profiles or	CM	NO	YES
	mathematically prescribed profiles such as sine or	CD
	cosine trajectories. The path is described by linear	DT
	incremental segments and the time between
	segments
Electronic Cam	Following a trajectory based on a master encoder	EA	NO	YES
	position.	EM
		EP
		ET

Independent Axis Positioning

In this mode, motion between the specified axes is independent, and each axis follows its own profile. The user specifies the desired absolute position (PA) or relative position (PR), slew speed (SP), acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-3425 profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory. The controller determines a new command position along the trajectory every sample period until the specified profile is complete. Motion is complete when the last position command is sent by the DMC-3425 profiler.

NOTE: The actual motor motion may not be complete when the profile has been completed, however, the next motion command may be specified.

The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or D axis specifiers are required to select the axes for motion. When no axes are specified, this causes motion to begin on all axes.

The speed (SP) and the acceleration (AC) can be changed at any time during motion; however, the deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember, motion is complete when the profiler is finished, not when the actual motor is in position. The Stop command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final position.

An incremental position movement (IP) may be specified during motion as long as the additional move is in the same direction. Here, the user specifies the desired position increment, n. The new target is equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be generated for motion towards the new end position. The IP command does not require a BG.

NOTE: If the motor is not moving, the IP command is equivalent to the PR and BG command combination.

DMC-3425 Chapter 6 Programming Motion• 69