Galil DMC-2X00 user manual Table Controller, Jp #A

Instruction	Interpretation
#A	Label
AI1	Wait for input 1
PR 6370	Distance
SP 3185	Speed
BGA	Start Motion
AMA	After motion is complete
SB1	Set output bit 1
WT 20	Wait 20 ms
CB1	Clear output bit 1
WT 80	Wait 80 ms
JP #A	Repeat the process

START PULSE I1

MOTOR VELOCITY

OUTPUT PULSE

output

TIME INTERVALS

move wait ready move

Figure 7.1 - Motor Velocity and the Associated Input/Output signals

A-B Table Controller

An A-B-C system must cut the pattern shown in Fig. 7.2. The A-B table moves the plate while the C- 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 C-axis raised. An A-B motion to point B is followed by lowering the C-axis and performing a cut along the circle. Once the circular motion is completed, the C-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:

120 • Chapter 7 Application Programming DMC-2X00