Galil DMC-13X8 ユーザーズマニュアル

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START PULSE  I1

MOTOR VELOCITY

OUTPUT PULSE

TIME INTERVALS

move

output

wait

ready

move

 

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

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

 

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