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DMC-3425 Chapter 7 Application Programming• 147
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/s
2
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
Further assume that the C must move 2" at a linear speed of 2" per second. The required motion is
performed by the following instructions:
Instruction
Inter
p
retation
#A Label
VM AB Circular interpolation for AB
VP 160000,160000 Positions
VE End Vector Motion
VS 200000 Vector Speed
VA 1544000 Vector Acceleration
BGS Start Motion
AMS When motion is complete
PR,,-80000 Move C down
SP,,80000 C speed
BGC Start C motion
AMC Wait for completion of C motion
CR 80000,270,-360 Circle
VE
VS 40000 Feedrate
BGS Start circular move
AMS Wait for completion
PR,,80000 Move C up
BGC Start C move
AMC Wait for C completion
PR –21600 Move A
SP 20000 Speed A
BGA Start A
AMA Wait for A completion
PR,,-80000 Lower C
BGC
AMC
CR 80000,270,-360 C second circle move
VE
VS 40000