Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 • iii
Operand Summary - Independent Axis .....................................................................................................................69
I
NDEPENDENT
J
OGGING
..................................................................................................................................................71
Command Summary - Jogging..................................................................................................................................71
Operand Summary - Independent Axis .....................................................................................................................72
L
INEAR
I
NTERPOLATION
M
ODE
......................................................................................................................................72
Specifying Linear Segments .....................................................................................................................................72
Command Summary - Linear Interpolation ..............................................................................................................74
Operand Summary - Linear Interpolation .................................................................................................................75
Example - Linear Move ............................................................................................................................................75
Example - Multiple Moves........................................................................................................................................77
V
ECTOR
M
ODE
: L
INEAR AND
C
IRCULAR
I
NTERPOLATION
M
OTION
................................................................................77
Specifying Vector Segments .....................................................................................................................................77
Additional commands ...............................................................................................................................................78
Command Summary - Coordinated Motion Sequence..............................................................................................80
Operand Summary - Coordinated Motion Sequence.................................................................................................80
E
LECTRONIC
G
EARING
...................................................................................................................................................82
Command Summary - Electronic Gearing ................................................................................................................82
E
LECTRONIC
C
AM
..........................................................................................................................................................84
Command Summary – Electronic CAM ...................................................................................................................88
C
ONTOUR
M
ODE
............................................................................................................................................................89
Specifying Contour Segments...................................................................................................................................89
Additional Commands ..............................................................................................................................................91
Command Summary - Contour Mode .......................................................................................................................91
S
TEPPER
M
OTOR
O
PERATION
.........................................................................................................................................94
Specifying Stepper Motor Operation ........................................................................................................................94
Using an Encoder with Stepper Motors ....................................................................................................................95
Command Summary - Stepper Motor Operation ......................................................................................................96
Operand Summary - Stepper Motor Operation .........................................................................................................96
S
TEPPER
P
OSITION
M
AINTENANCE
M
ODE
(SPM)...........................................................................................................96
Error Limit ................................................................................................................................................................97
Correction .................................................................................................................................................................97
M
OTION
S
MOOTHING
...................................................................................................................................................101
Using the IT and VT Commands (S curve profiling):.............................................................................................101
Using the KS Command (Step Motor Smoothing): ................................................................................................102
H
OMING
........................................................................................................................................................................103
H
IGH
S
PEED
P
OSITION
C
APTURE
(T
HE
L
ATCH
F
UNCTION
) ...........................................................................................106
F
AST
U
PDATE
R
ATE
M
ODE
...........................................................................................................................................106
CHAPTER 7 APPLICATION PROGRAMMING......................................................................................................109
O
VERVIEW
....................................................................................................................................................................109
U
SING THE
DMC-18
X
2 E
DITOR TO
E
NTER
P
ROGRAMS
................................................................................................109
Edit Mode Commands ............................................................................................................................................110
P
ROGRAM
F
ORMAT
.......................................................................................................................................................110
Using Labels in Programs .......................................................................................................................................111
Special Labels .........................................................................................................................................................111
Commenting Programs ...........................................................................................................................................112
E
XECUTING
P
ROGRAMS
- M
ULTITASKING
....................................................................................................................113
D
EBUGGING
P
ROGRAMS
...............................................................................................................................................114
P
ROGRAM
F
LOW
C
OMMANDS
.......................................................................................................................................116
Event Triggers & Trippoints ...................................................................................................................................116
Event Trigger Examples:.........................................................................................................................................118
Conditional Jumps...................................................................................................................................................120
Using If, Else, and Endif Commands ......................................................................................................................122
Subroutines .............................................................................................................................................................123
Stack Manipulation .................................................................................................................................................124
Auto-Start Routine ..................................................................................................................................................124
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