Galil Motion Control DMC-18 2 Series User Manual page 156

The heavy solid curves in Fig. 7.2 indicate sections where cutting takes place. Those must be
performed at a feedrate of 1 inch per second. The light lines correspond to non-cutting moves and
should be performed at 5 inch per second. The acceleration rate is 0.1 g.
The motion starts at point A, with the Z-axis raised. An X-Y motion to point B is followed by
lowering the Z-axis and performing a cut along the circle. Once the circular motion is completed, the
Z-axis is raised and the motion continues to point C, etc.
Assume that all of the 3 axes are driven by lead screws with 10 turns-per-inch pitch. Also assume
encoder resolution of 1000 lines per revolution. This results in the relationship:
1 inch = 40,000 counts
and the speeds of
1 in/sec = 40,000 count/sec
5 in/sec = 200,000 count/sec
an acceleration rate of 0.1g equals
0.1g = 38.6 in/s2 = 1,544,000 count/s 2
Note that the circular path has a radius of 2" or 80000 counts, and the motion starts at the angle of 270°
and traverses 360° in the CW (negative direction). Such a path is specified with the instruction
CR 80000,270,-360
Further assume that the Z must move 2" at a linear speed of 2" per second. The required motion is
performed by the following instructions:
Instruction
#A
VM XY
VP 160000,160000
VE
VS 200000
VA 1544000
BGS
AMS
PR,,-80000
SP,,80000
BGZ
AMZ
CR 80000,270,-360
VE
VS 40000
BGS
AMS
PR,,80000
BGZ
AMZ
PR -21600
DMC-18x2
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Function
Label
Circular interpolation for XY
Positions
End Vector Motion
Vector Speed
Vector Acceleration
Start Motion
When motion is complete
Move Z down
Z speed
Start Z motion
Wait for completion of Z motion
Circle
Feedrate
Start circular move
Wait for completion
Move Z up
Start Z move
Wait for Z completion
Move X
Chapter 7 Application Programming • 145