Galil DMC-2010, User Manual

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Specifying the Coordinate Plane ...............................................................................81
Specifying Linear Segments......................................................................................81
Additional Commands...............................................................................................82
Command Summary - Linear Interpolation...............................................................83
Operand Summary - Linear Interpolation..................................................................83
Example.....................................................................................................................83
Vector Mode: Linear and Circular Interpolation Motion.........................................................86
Specifying the Coordinate Plane ...............................................................................86
Specifying Vector Segments .....................................................................................87
Additional commands................................................................................................87
Command Summary - Coordinated Motion Sequence ..............................................88
Operand Summary - Coordinated Motion Sequence.................................................89
Example.....................................................................................................................89
Electronic Gearing ...................................................................................................................91
Ramped Gearing ......................................................................................................................91
Example.....................................................................................................................93
Command Summary - Electronic Gearing ................................................................93
Electronic Cam ........................................................................................................................95
Command Summary - Electronic CAM ....................................................................98
Operand Summary - Electronic CAM .......................................................................99
Example.....................................................................................................................99
Contour Mode........................................................................................................................ 100
Specifying Contour Segments ................................................................................. 100
Additional Commands............................................................................................. 101
Command Summary - Contour Mode ..................................................................... 102
General Velocity Profiles ........................................................................................ 102
Example................................................................................................................... 102
Virtual Axis ........................................................................................................................... 105
Ecam master example.............................................................................................. 105
Sinusoidal Motion Example .................................................................................... 105
Stepper Motor Operation ....................................................................................................... 106
Specifying Stepper Motor Operation....................................................................... 106
Stepper Motor Smoothing ....................................................................................... 106
Monitoring Generated Pulses vs. Commanded Pulses ............................................ 106
Motion Complete Trip point.................................................................................... 107
Using an Encoder with Stepper Motors................................................................... 107
Command Summary - Stepper Motor Operation..................................................... 107
Operand Summary - Stepper Motor Operation........................................................ 108
Stepper Position Maintenance Mode (SPM).......................................................................... 108
Error Limit............................................................................................................... 109
Correction................................................................................................................ 109
Dual Loop (Auxiliary Encoder)............................................................................................. 112
Additional Commands for the Auxiliary Encoder................................................... 113
Backlash Compensation .......................................................................................... 113
Example................................................................................................................... 113
Motion Smoothing ................................................................................................................. 114
Using the IT and VT Commands:............................................................................ 115
Example................................................................................................................... 115
Using the KS Command (Step Motor Smoothing):................................................. 116
Homing .................................................................................................................................. 117
Example................................................................................................................... 117
Command Summary - Homing Operation............................................................... 119
Operand Summary - Homing Operation.................................................................. 119
High Speed Position Capture (The Latch Function) .............................................................. 119
Example................................................................................................................... 120
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Contents DMC-2X00