Example Applications; Wire Cutter - Galil Motion Control DMC-1600 Series User Manual

AC 80000;DC 80000
#Loop
VP=@AN[1]*1000
PA VP
BGX
AMX
JP #Loop
EN
Example - Position Follower (Continuous Move)
Method: Read the analog input, compute the commanded position and the position error.
Command the motor to run at a speed in proportions to the position error.
Instruction
#Cont
AC 80000;DC 80000
JG 0
BGX
#Loop
VP=@AN[1]*1000
VE=VP-_TPX
VEL=VE*20
JG VEL
JP #Loop
EN

Example Applications

Wire Cutter

An operator activates a start switch. This causes a motor to advance the wire a distance of 10".
When the motion stops, the controller generates an output signal which activates the cutter.
Allowing 100 ms for the cutting completes the cycle.
Suppose that the motor drives the wire by a roller with a 2" diameter. Also assume that the
encoder resolution is 1000 lines per revolution. Since the circumference of the roller equals 2π
inches, and it corresponds to 4000 quadrature, one inch of travel equals:
This implies that a distance of 10 inches equals 6370 counts, and a slew speed of 5 inches per
second, for example, equals 3185 count/sec.
The input signal may be applied to I1, for example, and the output signal is chosen as output 1.
The motor velocity profile and the related input and output signals are shown in Fig. 7.1.
The program starts at a state that we define as #A. Here the controller waits for the input pulse on
I1. As soon as the pulse is given, the controller starts the forward motion.
Upon completion of the forward move, the controller outputs a pulse for 20 ms and then waits an
additional 80 ms before returning to #A for a new cycle.
Instruction
152 • Chapter 7 Application Programming
Acceleration
Read analog input and compute position
Command position
Start motion
After completion
Repeat
End
Interpretation
Label
Acceleration rate
Start job mode
Start motion
Compute desired position
Find position error
Compute velocity
Change velocity
Change velocity
End
4000/2π = 637 count/inch
Function
DMC-1600