Yaskawa SMC–4000 - Manual (Page 288)

278
SMC–4000 User Manual
Example
Tangent Axis
Assume an AB table with the C-axis controlling a knife. The C-axis has a 2000 quad counts/rev encoder and
has been initialized after power-up to point the knife in the +B 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 AB plane is in the +A direction. This corresponds to the position
-500 in the Z-axis, and defines the offset. The motion has two parts. First, A, B and C are driven to the
starting point, and later, the cut is performed. Assume that the knife is engaged with output bit 0.
Coordinated Motion
Traverse the path shown in the following figure. Feedrate is 20000 counts/sec. Plane of motion is AB.
Instruction Interpretation
#EXAMPLE Example Program
VM ABC AB coordinate with C as tangent
TN 2000/360,-500 2000/360 counts/degree, position -500 is 0 degrees in AB 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 A and B to starting position, move C to initial tangent position
BG ABC Start the move to get into position
AM ABC When the move is complete
SB0 Engage knife
WT50 Wait 50msec for the knife to engage
BGS Do the circular cut
AMS After the coordinated move is complete
CB0 Disengage knife
MG “ALL DONE”
EN End program
Instruction Interpretation
VM AB Specify motion plane
VS 20000 Specify vector speed
VA 1000000 Specify vector acceleration
VD 1000000 Specify vector deceleration
VP -4000,0 Segment AB
CR 1500,270,-180 Segment BC
VP 0,3000 Segment CD
CR 1500,90,-180 Segment DA