Spectral Decomposition - Galvanometer with infinite field

This demo shows the capability of Power PMAC controller in spectral decomposition. The controller accepts a single trajectory, G-code in this example and splits it into high-frequency components which are sent to the galvanometer and the remaining components of the moves are sent to the XY-stage in full synchronization. The Galvanometer is a 6215H series by Cambridge Technology and 61021506R40 XY mount and uses DC2000 Digital servo drive by Cambridge Technology. The drive is commanded in XY2-100 protocol directly from Power PMAC at 100kHz (10usec update period). The XY-stage is an Alio linear stage and controlled directly using Power Brick LV motion controller+amplifier combination. The XY2-100 protocol provides 3 axis of command to scan heads or galvo drives in addition to a PWM signal which its frequency and duty cycle can be adjusted on the fly and it can be tied into the velocity of the trajectory point. I've developed this demo as a test bench for spectral decomposition and XY2-100 interface protocol.