Galil Motion Control DMC-1000 User Manual page 75

Both cases assign a vector speed of n count/s to the corresponding motion segment.
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001.
This command takes effect immediately and causes VS scaled. VR also applies when the vector speed
is specified with the '<' operator. This is a useful feature for feedrate override. VR does not ratio the
accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.
By default, the DMC-1000 uses a scale factor of 1:1 for the encoder resolution when used in vector
mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES
command accepts two arguments which represent the number of counts for the two encoders used for
vector motion. The smaller ratio of the two numbers will be multiplied by the higher resolution
encoder. For more information, see ES command in Chapter 11, Command Summary.
Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the
coordinated motion path. To handle these applications, the DMC-1000 allows one axis to be specified
as the tangent axis. The VM command provides parameter specifications for describing the
coordinated axes and the tangent axis.
VM m,n,p
Before the tangent mode can operate, it is necessary to assign an axis via the VM command and define
its offset and scale factor via the TN m,n command. m defines the scale factor in counts/degree and n
defines the tangent position that equals zero degrees in the coordinated motion plane. The _TN can be
used to return the initial position of the tangent axis.
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
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
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.
Instruction
#EXAMPLE
VM XYZ
TN 2000/360,-500
CR 3000,0,180
VE
CB0
PA 3000,0,_TN
BG XYZ
AM XYZ
SB0
56 • Chapter 6 Programming Motion
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Changing Feedrate:
Compensating for Differences in Encoder Resolution:
Tangent Motion:
m,n specifies coordinated axes p specifies tangent axis such as X,Y,Z,W or
A,B,C,D,E,F,G,H p=N turns off tangent axis
Example - XY Table Control
°
position in the XY plane is in the +X direction. This
Interpretation
Example program
XY coordinate with Z as tangent
2000/360 counts/degree, position -500 is 0 degrees in XY plane
3000 count radius, start at 0 and go to 180 CCW
End vector
Disengage knife
Move X and Y to starting position, move Z to initial tangent position
Start the move to get into position
When the move is complete
Engage knife
°
circular
DMC-1000