Galil DMC-2X00 user manual Coordinated Motion, Bg Abc, Am Abc, SB0, MG ALL Done

PA 3000,0,_TN	Move A and B to starting position, move C to initial tangent
	position
BG ABC	Start the move to get into position
AM ABC	When the move is complete
SB0	Engage knife
WT50	Wait 50 msec for the knife to engage
BGS	Do the circular cut
AMS	After the coordinated move is complete
CB0	Disengage knife
MG "ALL DONE"
EN	End program

Coordinated Motion

Traverse the path shown in Fig. 6.3. Feed rate is 20000 counts/sec. Plane of motion is AB.

Instruction	Interpretation
VM AB	Specify motion plane
VS 20000	Specify vector speed
VA 1000000	Specify vector acceleration
VD 1000000	Specify vector deceleration
VP -4000,0	Segment AB
CR 1500,270,-180	Segment BC
VP 0,3000	Segment CD
CR 1500,90,-180	Segment DA
VE	End of sequence
BGS	Begin Sequence

The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose that we interrogate the controller when the motion is halfway between the points A and B.

The value of _AV is 2000 The value of _CS is 0

_VPA and _VPB contain the absolute coordinate of the point A

Suppose that the interrogation is repeated at a point, halfway between the points C and D. The value of _AV is 4000+1500π+2000=10,712

The value of _CS is 2

_VPA,_VPB contain the coordinates of the point C

DMC-2X00 Chapter 6 Programming Motion y 45