Galil Motion Control DMC-42 0 Series, Руководство пользователя

Страница: 75 / 218

expressed in units of resolution, and each circular arc is defined by the arc radius, the starting angle, and the
angular width of the arc. The zero angle corresponds to the positive direction of the X-axis and the CCW direction
of rotation is positive. Angles are expressed in degrees, and the resolution is 1/256th of a degree. For example,
the path shown in Figure A.8 is specified by the instructions:
VP 0,10000
CR 10000, 180, -90
VP 20000, 20000
Figure A.8: X-Y Motion Path
The first line describes the straight line vector segment between points A and B. The next segment is a circular arc,
which starts at an angle of 180° and traverses -90°. Finally, the third line describes the linear segment between
points C and D. Note that the total length of the motion consists of the segments:
A-B Linear 10000 units
B-C Circular
R

 
2
360
= 15708
C-D Linear 10000
Total 35708 counts
In general, the length of each linear segment is
L Xk Yk
k


2 2
Where Xk and Yk are the changes in X and Y positions along the linear segment. The length of the circular arc is
L R
k k k
 
2 360

The total travel distance is given by
D L
k
k
n



1
The velocity profile may be specified independently in terms of the vector velocity and acceleration.
For example, the velocity profile corresponding to the path of Figure A.8 may be specified in terms of the vector
speed and acceleration.
VS 100000
VA 2000000
The resulting vector velocity is shown in Figure A.9.
Chapter 6 Programming Motion ▫ 71 DMC-42x0 User Manual
10000 20000
20000
10000
Y
C D
B
A X