M O T I O N C O N T R O L L E R S
52
DMC-1300 VME Bus Controllers
·
Galil Motion Control, Inc.
·
800-377-6329
Motion Smoothing: To eliminate the
jerk of mechanical systems, the
DMC-1300 provides profile smooth-
ing. The acceleration profile is fil-
tered with the IT command for inde-
pendent moves and the VT com-
mand for coordinated moves.
Contouring: The contouring mode
allows the user to bypass the DMC-
1300 motion profiler and prescribe any
arbitrary position trajectory. Position
increments over a time interval are
specified for each axis. The contouring
mode is useful when complex and
computer-generated trajectories must
be followed. An automatic data record-
ing feature allows the DMC-1300 to
"learn" a path and then follow it in the
contour mode.
Electronic Gearing: This mode
allows up to seven axes to be elec-
tronically geared to one master axis
which may or may not be a motor
controlled by the
DMC-1300. The mas-
ter axis (GA) may
rotate in both direc-
tions and the geared
axes will follow at the
specified ratios (GR).
The gear ratio can be
changed during
motion. An axis can
be geared and do an
independent or vector
move simultaneously
which is useful for the
precise synchroniza-
tion required in flying-
shear applications.
The electronic gearing
mode eliminates
mechanical gears and
is also useful for
gantry applications.
Electronic gearing. Example:
GAY
Y is master
GR 5,,-2.5 X ratio=5, Z ratio=-2.5
PR,10000 Specify Y distance
SP,10000 Specify Y speed
AC,25000 Specify Y acceleration
DC,25000 Specify Y deceleration
BG Y
Begin motion
Dual Loop: The dual-loop encoder fea-
ture enables the DMC-1300 to com-
pensate for backlash. There are two
compensation methods. The continu-
ous dual loop, which performs the cor-
rection along the move, and the sam-
pled dual loop, which performs the
correction at the final point.
In both cases two encoders are
used for each axis. One encoder is
mounted on the motor and one is
mounted on the load. The continu-
ous dual loop, which is activated
with the instruction DV1, closes the
position loop with the load encoder
and derives the damping terms from
the motor encoder. This method pro-
vides backlash compensation along
the motion path.
The sampled dual loop performs
the correction at the end of the move.
Homing: The home (HM) command
can be used to home each motor to an
external mechanical reference and an
encoder index signal. The home speed
(SP) is programmable and the polarity
of the home switch is selectable using
the (CN) command. Alternative hom-
ing sequences can be created with the
FE and FI commands.
MASTER Y AXIS
10000
TIME
X
VELOCITY
TIME
Y
VELOCITY
TIME
Z
VELOCITY
25000
SLAVE X AXIS
SLAVE Z AXIS
Electronic Gearing
50000
DMC-1300
VME BUS
