X-Y Table Controller - Galil Motion Control DMC-1600 Series User Manual

#A
AI1
PR 6370
SP 3185
BGX
AMX
SB1
WT 20
CB1
WT 80
JP #A
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-Z system must cut the pattern shown in Fig. 7.2. The X-Y table moves the plate while
the Z-axis 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 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-axis raised. An X-Y motion to point B is followed by
lowering the Z-axis and performing a cut along the circle. Once the circular motion is completed,
the Z-axis 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:
and the speeds of
DMC-1600
Label
Wait for input 1
Distance
Speed
Start Motion
After motion is complete
Set output bit 1
Wait 20 ms
Clear output bit 1
Wait 80 ms
Repeat the process
move
1 inch = 40,000 counts
output
wait ready
Chapter 7 Application Programming • 153
move