Galil Motion Control DMC-42 0 Series, User Manual

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Chapter 6 Programming Motion
Overview
The DMC-42x0 provides several modes of motion, including independent positioning and jogging, coordinated
motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed in the following
sections.
The DMC-4210 are single axis controllers and use X-axis motion only. Likewise, the DMC-4220 use X and Y, the
DMC-4230 use X,Y, and Z, and the DMC-4240 use X,Y,Z, and W. The DMC-4250 use A,B,C,D, and E. The DMC-4260
use A,B,C,D,E, and F. The DMC-4270 use A,B,C,D,E,F, and G. The DMC-4280 use the axes A,B,C,D,E,F,G, and H.
The example applications described below will help guide you to the appropriate mode of motion.
4080
For controllers with 5 or more axes, the specifiers, ABCDEFGH, are used. XYZ and W may be interchanged
with ABCD.
EXAMPLE APPLICATION MODE OF MOTION COMMANDS
Absolute or relative positioning where each
axis is independent and follows prescribed
velocity profile. Independent Axis Positioning PA, PR, SP, AC, DC
Velocity control where no final endpoint is
prescribed. Motion stops on Stop command. Independent Jogging JG, AC, DC, ST
Absolute positioning mode where absolute
position targets may be sent to the controller
while the axis is in motion. Position Tracking
PA, AC, DC, SP, PT
Motion Path described as incremental position
points versus time. Contour Mode CM, CD, DT
Motion Path described as incremental
position, velocity and delta time PVT Mode PV, BT
2 to 8 axis coordinated motion where path is
described by linear segments. Linear Interpolation Mode LM, LI, LE, VS,VR,
VA, VD
2-D motion path consisting of arc segments
and linear segments, such as engraving or
quilting. Vector Mode: Linear and Circular Interpolation
Motion VM, VP, CR, VS,VR,
VA, VD, VE
Third axis must remain tangent to 2-D motion
path, such as knife cutting. Coordinated motion with Tangent Motion: VM, VP, CR, VS,VA,VD,
TN, VE
Electronic gearing where slave axes are scaled
to master axis which can move in both
directions. Electronic Gearing GA, GD, _GP, GR, GM
(if gantry)
Master/slave where slave axes must follow a
master such as conveyer speed. Electronic Gearingwith Ramped Gearing GA, GD, _GP, GR
Chapter 6 Programming Motion ▫ 55 DMC-42x0 User Manual