Galil DMC-1510, Руководство пользователя

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DMC-1500 Chapter 6 Programming Motion
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Example - Jog in X Only
Jog X motor at 50000count/s. After X motor is at its jog speed, begin jogging Z in reverse direction at
25000 count/s.
#A
AC 20000,,20000 Specify X,Z acceleration of 20000 cts/sec
DC 20000,,20000 Specify X,Z deceleration of 20000 cts/sec
JG 50000,,-25000 Specify jog speed and direction for X and Z axis
BG XY Begin X motion
AS X Wait until X is at speed
BG Z Begin Z motion
EN
Example - Joystick Jogging
The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10 Volt
input the speed must be 50000 counts/sec.
#JOY Label
JG0 Set in Jog Mode
BGX Begin motion
#B Label for Loop
V1 = @AN[1] Read analog input
VEL = V1*50000/2047 Compute speed
JG VEL Change JG speed
JP #B Loop
Linear Interpolation Mode
The DMC-1500 provides a linear interpolation mode for 2 or more axes (up to 8 axes for the DMC-
1580). In linear interpolation mode, motion between the axes is coordinated to maintain the prescribed
vector speed, acceleration, and deceleration along the specified path. The motion path is described in
terms of incremental distances for each axis. An unlimited number of incremental segments may be
given in a continuous move sequence, making the linear interpolation mode ideal for following a
piece-wise linear path. There is no limit to the total move length.
The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM
YZ selects only the Y and Z axes for linear interpolation.
When using the linear interpolation mode, the LM command only needs to be specified once unless
the axes for linear interpolation change.
Specifying Linear Segments
The command LI x,y,z,w or LI a,b,c,d,e,f,g,h specifies the incremental move distance for each axis.
This means motion is prescribed with respect to the current axis position. Up to 511 incremental move
segments may be given prior to the Begin Sequence (BGS) command. Once motion has begun,
additional LI segments may be sent to the controller.
The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the
start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a
decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the
command AB1 aborts the motion only.