Galil DMC-2X00 - Manual (Page 116)

Instruction Interpretation
VMAN Select Axes
VA 68000000 Maximum Acceleration
VD 68000000 Maximum Deceleration
VS 125664 VS for 20 Hz
CR 1000, -90, 3600 Ten Cycles
VE
BGS
Stepper Motor Operation
When configured for stepper motor operation, several commands are interpreted differently than from
servo mode. The following describes operation with stepper motors.
Specifying Stepper Motor Operation
In order to command stepper motor operation, the appropriate stepper mode jumpers must be installed.
See chapter 2 for this installation.
Stepper motor operation is specified by the command MT. The argument for MT is as follows:
2 specifies a stepper motor with active low step output pulses
-2 specifies a stepper motor with active high step output pulses
2.5 specifies a stepper motor with active low step output pulses and reversed direction
-2.5 specifies a stepper motor with active high step output pulse and reversed direction
Stepper Motor Smoothing
The command, KS, provides stepper motor smoothing. The effect of the smoothing can be thought of
as a simple Resistor-Capacitor (single pole) filter. The filter occurs after the motion profiler and has
the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor.
Use of KS is most applicable when operating in full step or half step operation. KS will cause the step
pulses to be delayed in accordance with the time constant specified.
When operating with stepper motors, you will always have some amount of stepper motor smoothing,
KS. Since this filtering effect occurs after the profiler, the profiler may be ready for additional moves
before all of the step pulses have gone through the filter. It is important to consider this effect since
steps may be lost if the controller is commanded to generate an additional move before the previous
move has been completed. See the discussion below, Monitoring Generated Pulses vs. Commanded
Pulses.
The general motion smoothing command, IT, can also be used. The purpose of the command, IT, is to
smooth out the motion profile and decrease 'jerk' due to acceleration.
Monitoring Generated Pulses vs. Commanded Pulses
For proper controller operation, it is necessary to make sure that the controller has completed
generating all step pulses before making additional moves. This is most particularly important if you
are moving back and forth. For example, when operating with servo motors, the trip point AM (After
Motion) is used to determine when the motion profiler is complete and is prepared to execute a new
motion command. However when operating in stepper mode, the controller may still be generating
step pulses when the motion profiler is complete. This is caused by the stepper motor smoothing filter,
KS. To understand this, consider the steps the controller executes to generate step pulses:
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• Chapter 6 Programming Motion
DMC-2X00