Galil Motion Control DMC-42 0 Series, Руководство пользователя

Страница: 73 / 218

Example:
Assume an XY table with the Z-axis controlling a knife. The Z-axis has a 2000 quad counts/rev encoder and has
been initialized after power-up to point the knife in the +Y direction. A 180° circular cut is desired, with a radius of
3000, center at the origin and a starting point at (3000,0). The motion is CCW, ending at (-3000,0). Note that the
0° position in the XY plane is in the +X direction. This corresponds to the position -500 in the Z-axis, and defines
the offset. The motion has two parts. First, X,Y and Z are driven to the starting point, and later, the cut is
performed. Assume that the knife is engaged with output bit 0.
#EXAMPLE Example program
VM XYZ XY coordinate with Z as tangent
TN 2000/360,-500 2000/360 counts/degree, position -500 is 0 degrees in XY plane
CR 3000,0,180 3000 count radius, start at 0 and go to 180 CCW
VE End vector
CB0 Disengage knife
PA 3000,0,_TN Move X and Y to starting position, move Z to initial tangent position
BG XYZ Start the move to get into position
AM XYZ When the move is complete
SB0 Engage knife
WT50 Wait 50 msec for the knife to engage
BGS Do the circular cut
AMS After the coordinated move is complete
CB0 Disengage knife
MG “ALL DONE”
EN
End program
Command Summary - Coordinated Motion Sequence
COMMAND DESCRIPTION
VM m,n Specifies the axes for the planar motion where m and n represent the planar axes and p
is the tangent axis.
VP m,n Return coordinate of last point, where m=X,Y,Z or W.
CR
r,ɵ,δ<n>m Specifies arc segment where r is the radius,

is the starting angle and

is the travel
angle. Positive direction is CCW.
VS s,t Specify vector speed or feed rate of sequence.
VA s,t Specify vector acceleration along the sequence.
VD s,t Specify vector deceleration along the sequence.
VR s,t Specify vector speed ratio
BGST Begin motion sequence, S or T
CSST Clear sequence, S or T
AV s,t Trippoint for After Relative Vector distance.
AMST Holds execution of next command until Motion Sequence is complete.
TN m,n
Tangent scale and offset.
ES m,n Ellipse scale factor.
IT s,t S curve smoothing constant for coordinated moves
LM? Return number of available spaces for linear and circular segments in DMC-42x0
sequence buffer. Zero means buffer is full. 511 means buffer is empty.
CAS or CAT Specifies which coordinate system is to be active (S or T)
Operand Summary - Coordinated Motion Sequence
OPERAND DESCRIPTION
_VPM The absolute coordinate of the axes at the last intersection along the sequence.
_AV Distance traveled.
_LM Number of available spaces for linear and circular segments in DMC-42x0 sequence buffer.
Zero means buffer is full. 511 means buffer is empty.
_CS
Segment counter - Number of the segment in the sequence, starting at zero.
_VE Vector length of coordinated move sequence.
Chapter 6 Programming Motion ▫ 69 DMC-42x0 User Manual