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Galil Motion Control - note 2326 (Page 1)

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Galil Motion Control - note 2326
DMC-1000
DMC-1500
DMC-1300
Application Note 2326: Generating a Helical Motion Profile
Background:
It is possible to create a helical motion profile using any 3 (or more) axis controller. This
is accomplished by commanding a coordinated circular move between 2 axes and
gearing a third axis to the vector motion of the coordinated axes.
Program Example:
This example shows how to implement helical motion:
#HELIX
REM VARIABLES USED:
REM PITCH
ENCODER CTS TRAVERSED/CIRCLE
REM SPEED
VECTOR SPEED OF CIRCLE
REM RATIO
GEAR RATIO
REM ANGLE
SWEPT ANGLE OF CIRCLE
REM LOOPCNT
USED IF ANGLE>32000 FOR LARGE
TRAVERSES
REM LASTLOOP
ANGLE FOR LAST LOOP
#SETUP
PITCH= 360
RADIUS= 5000
SPEED= 50000
VS SPEED
RATIO= PITCH/(2*3.14159*RADIUS)
GAS
GR,,RATIO
IN "ENTER THE TRAVERSE DISTANCE (ENCODER CTS):",DIST
ANGLE=360 * DIST/PITCH
LOOPCNT=@INT[ANGLE/32000]
LASTLOOP= 0
JP#MOVE,ANGLE<32000

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