Galil Motion Control DMC-21 5 Series User Manual page 56

Example:
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° circular 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°
position in the XY plane is in the +X direction. This 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. The X axis of the table is wired to the controller's A axis, the Y
axis of the table is wired to the controller's B axis, and the Z axis moving the knife is wired to the controller's C axis.
#example;
SH ABC;
VM ABC;
TN 2000/360,-500;
CR 3000,0,180;
VE;
CB 0;
PA 3000,0,_TN;
BG ABC;
AM ABC;
SB 0;
WT 50;
BG S;
AM S;
CB 0;
MO ABC;
MG "ALL DONE";
EN;
Command Summary - Coordinated Motion Sequence
COMMAND
VM
VP
CR
VS
VA
VD
VR
BG
CS
AV
AM
TN
ES
IT
CA
Chapter 6 Programming Motion ▫ 51
'example program
'servo A, B, and C axes
'coordinate A and B axes, with C as tangent
'2000/360 counts/degree, position -500 is 0 degrees
in AB plane
'3000 count radius, start at 0 and go to 180 CCW
'end vector
'disengage knife
'move A and B to starting position, move C to initial
tangent position
'start the move to get into position
'when the move is complete
'engage knife
'wait 50 msec for the knife to engage
'do the circular cut
'after the coordinated move is complete
'disengage knife
'disable A, B, C axes
'send message
'end program
DESCRIPTION
Specifies the axes for the planar motion
Specifies target coordinates for a vector move
Specifies arc segment, positive direction is CCW
Specify vector speed or feed rate of sequence
Specify vector acceleration along the sequence
Specify vector deceleration along the sequence
Specify vector speed ratio
Begin motion sequence, S or T
Clear sequence, S or T
Trippoint for After Relative Vector distance
Holds execution of next command until Motion Sequence is complete
Tangent scale and offset
Ellipse scale factor
S curve smoothing constant for coordinated moves
Specifies which coordinate system is to be active, S or T
Table 6.7: List of commands related to Vector Mode
DMC-21x5 User Manual 1.0a1