Galil DMC-1510 - Page 9

DMC-1500 Contents • iii
Chapter 6 Programming Motion 41
Overview .................................................................................................................................41
Independent Axis Positioning..................................................................................................41
Command Summary - Independent Axis ..................................................................42
Operand Summary - Independent Axis.....................................................................42
Independent Jogging................................................................................................................44
Command Summary - Jogging..................................................................................44
Operand Summary - Independent Axis.....................................................................44
Linear Interpolation Mode.......................................................................................................45
Specifying Linear Segments......................................................................................45
Specifying Vector Acceleration, Deceleration and Speed:........................................46
Additional Commands...............................................................................................46
Command Summary - Linear Interpolation...............................................................47
Operand Summary - Linear Interpolation .................................................................48
Vector Mode: Linear and Circular Interpolation Motion ........................................................50
Specifying Vector Segments .....................................................................................50
Specifying Vector Acceleration, Deceleration and Speed:........................................51
Additional Commands...............................................................................................51
Command Summary - Vector Mode Motion.............................................................53
Operand Summary - Vector Mode Motion................................................................53
Electronic Gearing...................................................................................................................54
Command Summary - Electronic Gearing ................................................................55
Operand Summary - Electronic Gearing ...................................................................55
Electronic Cam ........................................................................................................................57
Command Summary - ECAM Mode.........................................................................61
Operand Summary - ECAM Mode............................................................................61
Contour Mode..........................................................................................................................63
Specifying Contour Segments...................................................................................63
Additional Commands...............................................................................................64
Command Summary - Contour Mode .......................................................................64
Teach (Record and Play-Back)..................................................................................66
Stepper Motor Operation.........................................................................................................67
Specifying Stepper Motor Operation.........................................................................68
Using an Encoder with Stepper Motors ....................................................................69
Command Summary - Stepper Motor Operation.......................................................69
Operand Summary - Stepper Motor Operation .........................................................69
Dual Loop (Auxiliary Encoder)...............................................................................................70
Backlash Compensation ............................................................................................70
Command Summary - Using the Auxiliary Encoder.................................................72
Operand Summary - Using the Auxiliary Encoder ...................................................72
Motion Smoothing...................................................................................................................72
Using the IT and VT Commands (S curve profiling):...............................................72
Using the KS Command (Step Motor Smoothing):...................................................74
Homing....................................................................................................................................74
High Speed Position Capture (The Latch Function)................................................................77
Chapter 7 Application Programming
79
Overview .................................................................................................................................79
Using the DMC-1500 Editor to Enter Programs .....................................................................79
Edit Mode Commands...............................................................................................80
Program Format.......................................................................................................................81
Using Labels in Programs .........................................................................................81
Special Labels............................................................................................................81