Galil DMC-13X8 ユーザーズマニュアル

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The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001.  
This command takes effect immediately and causes VS scaled.  VR also applies when the vector speed 
is specified with the ‘<’ operator.  This is a useful feature for feedrate override.  VR does not ratio the 
accelerations.  For example, VR .5 results in the specification VS 2000 to be divided By two 

By default, the DMC-13X8 uses a scale factor of 1:1 for the encoder resolution when used in vector 
mode.  If this is not the case, the command, ES can be used to scale the encoder counts.  The ES 
command accepts two arguments which represent the number of counts for the two encoders used for 
vector motion.  The smaller ratio of the two numbers will be multiplied by the higher resolution 
encoder.   For more information, see ES command in Chapter 11, Command Summary. 

The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to 
occur before executing the next command in a program. 

Several applications, such as cutting, require a third axis (i.e. a knife blade), to remain tangent to the 
coordinated motion path.  To handle these applications, the DMC-13X8 allows one axis to be specified 
as the tangent axis.  The VM command provides parameter specifications for describing the 
coordinated axes and the tangent axis. 

VM m,n,p 

m,n specifies coordinated axes p specifies tangent axis such as X,Y,Z,W p=N 
turns off tangent axis 

Before the tangent mode can operate, it is necessary to assign an axis via the VM command and define 
its offset and scale factor via the TN m,n command.  m defines the scale factor in counts/degree and n 
defines the tangent position that equals zero degrees in the coordinated motion plane.  The operand 
_TN can be used to return the initial position of the tangent axis. 

Assume an XY table with the Z-axis controlling a knife.  The Z-axis has a 2000 quad counts/rev 

encoder and has been initialized after power-up to point the knife in the +Y direction.  A 180

°

 circular 

cut is desired, with a radius of 3000, center at the origin and a starting point at (3000,0).  The motion is 

CCW, ending at (-3000,0).  Note that the 0

°

 position in the XY plane is in the +X direction.  This 

corresponds to the position -500 in the Z-axis, and defines the offset.  The motion has two parts.  First, 
X,Y and Z are driven to the starting point, and later, the cut is performed.  Assume that the knife is 
engaged with output bit 0. 

#EXAMPLE Example 

program 

VM XYZ 

XY coordinate with Z as tangent 

TN 2000/360,-500 

2000/360 counts/degree, position -500 is 0 degrees in XY plane 

CR 3000,0,180 

3000 count radius, start at 0 and go to 180 CCW 

VE End 

vector 

CB0 Disengage 

knife 

PA 3000,0,_TN 

Move X and Y to starting position, move Z to initial tangent position 

BG XYZ 

Start the move to get into position 

AM XYZ 

When the move is complete 

SB0 Engage 

knife 

WT50 

Wait 50 msec for the knife to engage