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Galil Motion Control - manc 18x 6 (Page 206)

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Galil Motion Control - manc 18x 6
DMC-18x6 Command Reference
198
TM
FUNCTION: Update Time
DESCRIPTION:
The TM command sets the sampling period of the control loop. A zero or negative number turns
off the servo loop. The units of this command are
sec.
ARGUMENTS: TM n where
With the fast firmware: n is an number in the range 31.25 to 20000 decimal with resolution of
31.25 microseconds. The minimum sample time is possible when using the fast firmware. In
the Fast firmware mode the following functions are disabled: TD, DV, TK, NB, NZ, NF,
second field of EI, Gearing, CAM, PL, Analog Feedback, Steppers, Trippoints in all but
threads 0 and 1, Data Record and TV. Using the fast firmware the minimum sample times are
the following:
Accelera Controllers with 1-2 axes
31.25
sec
Accelera Controllers with 3-4 axes
62.5
sec
Accelera Controllers with 5-6 axes
93.75
sec
Accelera Controllers with 7-8 axes
125
sec
With the normal firmware: Using the normal firmware the minimum sample times are the
following:
Accelera Controllers with 1-2 axes
62.5
sec
Accelera Controllers with 3-4 axes
125
sec
Accelera Controllers with 5-6 axes
156.25
sec
Accelera Controllers with 7-8 axes
187.5
sec
n = ?
returns the value of the sample time.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
1000
In a Program
Yes
Default Format
1.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_TM contains the value of the sample time.
EXAMPLES:
TM -1000
Turn off internal clock
TM 2000
Set sample rate to 2000 msec
TM 1000
Return to default sample rate

NOTE
: TM1000 actually specifies a servo update rate of 976
s

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