Galil DMC-13X8 ユーザーズマニュアル
USER MANUAL
Chapter 6 Programming Motion
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N=0
Initialize position increment
#LOOP LOOP
VX [COUNT]=N
Fill Array VX
VY [COUNT]=N
Fill Array VY
N=N+10 Increment
position
COUNT=COUNT+1 Increment
counter
JP #LOOP,COUNT<750
Loop if array not full
#A Label
LM XY
Specify linear mode for XY
COUNT=0
Initialize array counter
#LOOP2;JP#LOOP2,_LM=0
If sequence buffer full, wait
JS#C,COUNT=500
Begin motion on 500th segment
LI VX[COUNT],VY[COUNT]
Specify linear segment
COUNT=COUNT+1 Increment
array
counter
JP #LOOP2,COUNT<750
Repeat until array done
LE
End Linear Move
AMS
After Move sequence done
MG "DONE"
Send Message
EN End
program
#C;BGS;EN
Begin Motion Subroutine
Vector Mode: Linear and Circular Interpolation Motion
The DMC-13X8 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion
along the path is continuous at the prescribed vector speed even at transitions between linear and
circular segments. The DMC-13X8 performs all the complex computations of linear and circular
interpolation, freeing the host PC from this time intensive task.
along the path is continuous at the prescribed vector speed even at transitions between linear and
circular segments. The DMC-13X8 performs all the complex computations of linear and circular
interpolation, freeing the host PC from this time intensive task.
The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be
selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where ‘m’ and ‘n’ are the coordinated pair and p is the tangent axis (Note:
the commas which separate m,n and p are not necessary). For example, VM XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.
the commas which separate m,n and p are not necessary). For example, VM XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.
Specifying the Coordinate Plane
The DMC-13X8 allows for 2 separate sets of coordinate axes for linear interpolation mode or vector
mode. These two sets are identified by the letters S and T.
mode. These two sets are identified by the letters S and T.
To specify vector commands the coordinate plane must first be identified. This is done by issuing the
command CAS to identify the S plane or CAT to identify the T plane. All vector commands will be
applied to the active coordinate system until changed with the CA command.
command CAS to identify the S plane or CAT to identify the T plane. All vector commands will be
applied to the active coordinate system until changed with the CA command.
Specifying Vector Segments
The motion segments are described by two commands; VP for linear segments and CR for circular
segments. Once a set of linear segments and/or circular segments have been specified, the sequence is
ended with the command VE. This defines a sequence of commands for coordinated motion.
segments. Once a set of linear segments and/or circular segments have been specified, the sequence is
ended with the command VE. This defines a sequence of commands for coordinated motion.