X-Y Table Controller - Galil Motion Control DMC-14 5 Series Manual

START PULSE I1
MOTOR VELOCITY
OUTPUT PULSE
TIME INTERVALS
Figure 7.1 - Motor Velocity and the Associated Input/Output signals

X-Y Table Controller

An X-Y system must cut the pattern shown in Fig. 7.2. The X-Y table moves the plate while digital
output 1 raises and lowers the cutting tool.
The 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 dashed line corresponds 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 output bit off. An X-Y motion to point B is followed by setting
an output bit to engage the cutting tool along the circle. Once the circular motion is completed, the
output bit is cleared which raises the tool, and the motion continues to point C, etc.
Assume that both of the 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
DMC-14x5/6
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output
move wait ready move
Chapter 7 Application Programming 127
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