Galil Motion Control DMC-1000 User Manual

50 • Chapter 6 Programming Motion DMC-1000
Specifying Vector Acceleration, Deceleration and
Speed:
The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration and
deceleration. The DMC-1000 computes the vector speed based on the axes specified in the LM mode.
For example, LM XYZ designates linear interpolation for the X,Y and Z axes. The vector speed for
this example would be computed using the equation:
VS
2
=XS
2
+YS
2
+ZS
2
, where XS, YS and ZS are the speed of the X,Y and Z axes.
The controller always uses the axis specifications from LM, not LI, to compute the speed.
In cases where the acceleration causes the system to 'jerk', the DMC-1000 provides a vector motion
smoothing function. VT is used to set the S-curve smoothing constant for coordinated moves.
Additional Commands
The DMC-1000 provides commands for additional control of vector motion and program control.
Note: Many of the commands used in Linear Interpolation motion also applies Vector motion
described in the next section.
Trippoints
The command AV n is the ‘After Vector’ trippoint, which halts program execution until the vector
distance of n has been reached.
In this example, the XY system is required to perform a 90
° turn. In order to slow the speed around
the corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors
reach the corner, the speed is increased back to 4000 cts / s.
Instruction Interpretation
#LMOVE Label
DP ,,0,0 Define position of Z and W axes to be 0
LMXY Define linear mode between X and Y axes.
LI 5000,0 Specify first linear segment
LI 0,5000 Specify second linear segment
LE End linear segments
VS 4000 Specify vector speed
BGS Begin motion sequence
AV 4000 Set trippoint to wait until vector distance of 4000 is reached
VS 1000 Change vector speed
AV 5000 Set trippoint to wait until vector distance of 5000 is reached
VS 4000 Change vector speed
EN Program end
Specifying Vector Speed for Each Segment
The instruction VS has an immediate effect and, therefore, must be given at the required time. In some
applications, such as CNC, it is necessary to attach various speeds to different motion segments. This
can be done by the instruction
LI x,y,z,w < n
Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Galil Motion Control DMC-1000 Specifications

General

Brand	Galil Motion Control
Model	DMC-1000
Category	Controller
Language	English