Linear Interpolation

(for controllers with two or more axes)

The linear interpolation mode (LM) allows any arbitrary path of up

to 8 axes to be defined as a set of linear segments (LI).The vector speed

(VS), vector acceleration (VA), vector deceleration (VD), and vector

smoothing (VT) are also defined. Up to 511 LI segments can be given

prior to the start of motion and additional segments can be sent during

motion to allow paths of unlimited length to be followed.

Electronic Gearing

The electronic gearing mode makes it easy for Galil controllers to

simulate the motion of mechanical gears electronically. Any slave axis or

set of slave axes can be geared to a master at a prescribed gear ratio

defined by the GR command.The gear ratio can be changed on-the-fly

and the controller permits multiple masters as defined by the GA com-

mand. A powerful feature of electronic gearing is that an axis can be

geared and simultaneously be commanded to perform an independent

or vector move.This is useful for the position correction required in

packaging applications or when shapes must be cut on a moving con-

veyer belt.The electronic gearing mode is also useful for gantry applica-

tions where a special gantry mode (GM) command tightly couples two

axes by ensuring that gearing cannot be disabled.

Example--Linear Interpolation

Example--Electronic Gearing

Move a cartesian robot through the following points with the

coordinates indicated in inches.

P0 (0,0,0)

P1 (4,2,1)

P2 (6,6,2)

P3 (8,8,0)

Assume that the resolutions of all the axes are 1000 counts/inch, and set

the required speed to 1.2 inches/sec (1200 counts/sec) and the accelera-

tion and deceleration to 100 in/sec

2

(100000 counts/sec

2

). Note that

the LM mode requires defining the segments in incremental form.

Point

Coordinate

Difference

P0

0,0,0

P1

4000,2000,1000

4000,2000,1000

P2

6000,6000,2000

2000,4000,1000

P3

8000,8000,0

2000,2000,-2000

PROGRAM

INTERPRETATION

#C

Label

CAS

Set coordinate system

LM XYZ

Define XYZ space

VS 1200

Vector speed

VA 100000

Vector acceleration

VD 100000

Vector deceleration

LI 4000,2000,1000

Segment P0-P1

LI 2000,4000,1000

Segment P1-P2

LI 2000,2000,-2000 Segment P2-P3

LE

End of move

BGS

Start the motion

EN

End program

**TIME**

**VELOCITY**

**20,000**

**-40,000**

**Z**

**X**

PROGRAM

INTERPRETATION

GA Y,,Y

Specify Y axis as master of X and Z

GR 2,,-4

Specify gear ratios for X and Z

PRY=50000

Specify end position of master

ACY=1000000

Specify acceleration of master

DCY=1000000

Specify deceleration of master

SPY=10000

Specify slew speed of master

BG Y

Begin motion

**10 **

www.galilmc.com

/

Galil Motion Control, Inc.

General Description

Galil Controllers

**CONTROLLERS**

**--**

**INTRO**