Galil Motion Control DMC-21 5 Series User Manual page 119

X-Y Table Controller
An X-Y-Z system must cut the pattern shown in Figure 7.2. The X-Y table moves the plate while the Z motor raises
and lowers the cutting tool.
The solid curves in Figure 7.2 indicate sections where cutting takes place. Those must be performed at a feed rate
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 Z motor raised. An X-Y motion to point B is followed by lowering the Z motor
and performing a cut along the circle. Once the circular motion is completed, the Z motor 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
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).
Further assume that the Z must move 2" at a linear speed of 2" per second. The X-Y motion is tied to A and B axes
while the Z motor is connected to C axis.
Chapter 7 Application Programming ▫ 114
2
Figure 7.2: Motor Velocity and the Associated Input/Output signals
DMC-21x5 User Manual 1.0a1