Galil DMC-3425 user manual Bgc Amc

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:

1 inch = 40,000 counts and the speeds of

1 in/sec = 40,000 count/sec

5 in/sec = 200,000 count/sec an acceleration rate of 0.1g equals

0.1g = 38.6 in/s2 = 1,544,000 count/s2

Note that the circular path has a radius of 2" or 80000 counts, and the motion starts at the angle of 270° and traverses 360° in the CW (negative direction). Such a path is specified with the instruction

CR 80000,270,-360

Further assume that the C must move 2" at a linear speed of 2" per second. The required motion is performed by the following instructions:

Instruction	Interpretation
#A	Label
VM AB	Circular interpolation for AB
VP 160000,160000	Positions
VE	End Vector Motion
VS 200000	Vector Speed
VA 1544000	Vector Acceleration
BGS	Start Motion
AMS	When motion is complete
PR,,-80000	Move C down
SP,,80000	C speed
BGC	Start C motion
AMC	Wait for completion of C motion
CR 80000,270,-360	Circle
VE
VS 40000	Feedrate
BGS	Start circular move
AMS	Wait for completion
PR,,80000	Move C up
BGC	Start C move
AMC	Wait for C completion
PR –21600	Move A
SP 20000	Speed A
BGA	Start A
AMA	Wait for A completion
PR,,-80000	Lower C
BGC
AMC
CR 80000,270,-360	C second circle move
VE
VS 40000

DMC-3425 Chapter 7 Application Programming• 147