Galil DMC-2X00 user manual Operand Summary Coordinated Motion Sequence, Tangent Axis

VA n

VD n

VR n

BGS

CS

AV n

AMS

TN m,n

ES m,n

VT

LM?

Specify vector acceleration along the sequence. Specify vector deceleration along the sequence. Specify vector speed ratio

Begin motion sequence. Clear sequence.

Trip point for After Relative Vector distance, n.

Holds execution of next command until Motion Sequence is complete. Tangent scale and offset.

Ellipse scale factor.

S curve smoothing constant for coordinated moves

Return number of available spaces for linear and circular segments in DMC-2x00 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Operand Summary - Coordinated Motion Sequence

operand

_VPM

_AV

_LM

_CS

_VE

Description

The absolute coordinate of the axes at the last intersection along the sequence. Distance traveled.

Number of available spaces for linear and circular segments in DMC-2x00 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Segment counter - Number of the segment in the sequence, starting at zero. Vector length of coordinated move sequence.

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The operands _VPA and _VPB can be used to return the coordinates of the last point specified along the path.

Example

Tangent Axis

Assume an AB table with the C-axis controlling a knife. The C-axis has a 2000 quad counts/rev

encoder and has been initialized after power-up to point the knife in the +B 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 AB plane is in the +A direction. This corresponds to the position -500 in the Z-axis, and defines the offset. The motion has two parts. First, A, B and C are driven to the starting point, and later, the cut is performed. Assume that the knife is engaged with output bit 0.

Instruction	Interpretation
#EXAMPLE	Example program
VM ABC	AB coordinate with C as tangent
TN 2000/360,-500	2000/360 counts/degree, position -500 is 0 degrees in AB plane
CR 3000,0,180	3000 count radius, start at 0 and go to 180 CCW
VE	End vector
CB0	Disengage knife

44 • Chapter 6 Programming Motion DMC-2X00