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Galil Motion Control, Inc.
9
CONTROLLERS
--
INTRO
controller. It can even handle more complex motion control functions
such as collision avoidance.
Another feature of the vector mode is tangential following that
allows a third axis to remain tangent to the trajectory, which is ideal for
cutting tools. Helical motion is also possible by commanding the third
axis to follow the coordinated path at the same rate.
Example--Coordinated Motion
C (4000,1000)
D (-1000,1000)
B (4000,0)
E (-1000,0)
A (0,0)
Perform a move along the trajectory shown in the figure starting
at the point A and moving counter clockwise toward B. Set the
vector velocity to a uniform rate of 5000 counts/sec, and set the
accel/decel rate along the vector to 500000 counts/sec
2.
COMMAND
INTERPRETATION
#PATH
Label
CAS
Set coordinate system
VMXY
Define plane as XY
VA 500000
Acceleration
VD 500000
Deceleration
VS 5000
Vector speed
VP 4000,0
Move AB
CR 500,-90,180
Move BC
VP -1000,1000
Move CD
CR 500,90,180
Move DE
VP 0,0
Move EA
VE
Indicate end of path
BGS
Start motion sequence
EN
End program
VECTOR SPEED
VECTOR DISTANCE
25000
5000
B
C
A
D
A
E
Repeat the previous example, but set the feedrate to the maximum
values allowed. Due to accuracy requirements, the vector speed must
be limited to 5000 counts/sec on the circular segments BC and DE. On
the linear segment, the motor speed is limited to 25,000 counts/sec.
This operation is simplified given the controller's ability to associate
two speeds with each segment--upper and lower limits.These limits
are designated by the < and > symbols.
The resulting motion will accelerate the motors to the maximum
allowed speed, but will assure that the speed at the end of the segment
is the one indicated by the > symbol.The resulting vector speed is
shown as a function of the path in the figure below
.
COMMAND
INTERPRETATION
#B
Label
CAS
Set coordinate system
VMXY
Define XY plane
VA 500000
Acceleration
VD 500000
Deceleration
VP 4000,0 <25000>5000
Segment AB
CR 500,-90,180
Segment BC
VP -1000,1000 <25000>5000 Segment CD
CR 500,90,180
Segment DE
VP 0,0 <25000
Segment EA
VE
Specify end of path
BGS
Begin motion sequence
EN
End program
General Description
Galil Controllers
Example--Coordinated Motion with Maximum Feedrate
