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Galil Motion Control - catalog (Page 17)

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Galil Motion Control - catalog
Independent Axis Positioning: In this
mode, each axis follows its own pre-
scribed profile. The user specifies the
desired absolute position (PA) or rela-
tive position (PR), along with the
acceleration rate (AC), deceleration
rate (DC), and slew speed (SP).
Position can be interrogated at any
time using the tell position (TP)
command.
Jogging: The jog mode allows the
user to command each motor to run
at a prescribed jog speed. The user
specifies the jog speed (JG), the
acceleration rate (AC), and the decel-
eration rate (DC). On begin (BG),
the motor accelerates up to the jog
speed and continues at that speed
until a new speed or stop command
(ST) is issued. The direction of
motion is specified by the sign of the
JG parameter. The JG, AC, and DC
parameters can be changed at any
time during motion. Average speed
can be interrogated at any time using
the tell velocity (TV) command.
Linear Interpolation: The DMC-
1700 provides a linear interpolation
mode for any combination of up to
8 axes. Here, motion between the
axes is coordinated to maintain the
prescribed vector speed (VS), acceler-
ation rate (VA), and deceleration rate
(VD) along the specified path. The
path is described by incremental dis-
tances (LI) for each axis. Several LI
segments can be given prior to and
during motion allowing infinite
paths to be followed without stop-
ping. There is no limit to the total
move length.
2-D Coordinated Motion --Linear and
Circular Interpolation:
The DMC-
1700's coordinated motion mode (VM)
makes it easy to follow a two-dimen-
sional path consisting of multiple
straight-line and arc segments. Here,
the user programs linear moves (VP)
and circular moves (CR), in addition
to the feed-rate (VS), vector accelera-
tion (VA), and deceleration (VD).
There is no limit to the number of seg-
ments that can be specified allowing
long motion paths to be followed
without stopping. The coordinated
motion mode is useful when a con-
stant vector speed must be maintained
along a two-dimensional path, such as
2-D Circular Path
R=1500
C
D (0,3000)
B (-4000,0)
A (0,0)
Modes of Motion
in engraving or adhesive applications.
The vector speed can be changed at
any time during motion, which is ideal
for slowing down around sharp cor-
ners. The user can also command a
third axis to remain tangent to the
coordinated path, which is ideal for
cutting tools.
2-D path at constant vector speed.
Example:
VM XY
XY motion plane
VS 10000
Vector speed
VP -4000,0 Segment AB
CR 1500,270,-180 Segment BC
VP 0,3000 Segment CD
CR 1500,90,-180 Segment DA
VE End of sequence
BGS Begin sequence
Motion Smoothing: To eliminate the
jerk of mechanical systems, the
DMC-1700 provides profile smooth-
ing. The acceleration profile is fil-
tered with the IT command for inde-
DMC-1700 ISA Bus Controller
17
M O T I O N C O N T R O L L E R S
ISA BUS
DMC-1700

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