Bosch 6000 User's Guide download pdf (Page 170)

Chapter 5. Custom Profiling

155

The P axis will keep a position that is proportional to the distance traveled along the X-Y path

as the path is executed. This allows the P axis to act as the Z axis in helical interpolation (see

drawing at left), or to control the motion of any object which moves with distance and

velocity proportional to the path. The P axis must also be specified by the signed ratio of P

axis travel to path travel. The magnitude of this ratio may range from 0.001 to 1000. The

sign of this ratio specifies the direction of rotation of the P axis. Refer to the PPRO

command.

A sewing machine application may require all four axes (X,Y,C, and P). The X and Y axes

would direct the sewing head along the required path. The C axis would keep the sewing head

pointed into the direction of travel. The P axis would control the speed of the needle, so that

an even stitch is made, regardless of path speed.

Example

Code

The following example begins the definition of a path named DRAW1. The X and Y axes are

specified to be axes 4 and 2. The path includes the C axis to be axis 1, with a resolution of

100,000 steps. It also includes the P axis to be axis 3, with a ratio of P axis travel to path

travel specified as 2.5:1.

DEF DRAW1 ; Begin definition of DRAW1

PAXES4,2,1,3 ; Set contouring axes

PTAN100000 ; Define C axis resolution

PPRO2.5 ; Define P axis ratio

Path Acceleration, Deceleration, and Velocity

A path may be composed of many segments, each with their own motion parameters. The

path velocity, acceleration, and deceleration specifications currently in effect at the time a

segment is defined will apply to that segment. This allows construction of a path that moves

at one velocity for a section of the path, then moves at a different velocity for another section.

In most cases, it will be desirable to maintain a constant velocity throughout the path, but it

is easy to define a path in which each segment has its own velocity. For example, this may

be useful when a tool needs to slow down to round a corner, or to allow the rate of glue

application to be controlled by the path speed. Acceleration and deceleration may also be

specified separately.

Example

Code

The short code example below illustrates the specification of velocity, acceleration, and

deceleration in that order.

SCALE1 ; Enable scaling

PSCLA25000 ; Scale path acceleration by 25,000

PSCLV20000 ; Scale path velocity by 20,000

PV0.5 ; Path velocity 10,000 counts/sec

PA16 ; Path acceleration 400,000 counts/sec/sec

PAD28 ; Path deceleration 700,000 counts/sec/sec

Segment End-point Coordinates

Steppers: All end-point

position specifications are in

units of motors steps,

regardless of the current

state of the ENC command.

The end-point position specifications of lines and arcs may be either absolute or incremental.

The controller stores the end-point data for all of its compiled segments internally as

incremental, relative to the start of the segment. But in order to ease the programming task,

absolute coordinates and multiple coordinate systems may be used.

When incremental coordinates are used to specify an end-point, the X and Y end-point values

represent the distances from the X and Y start point of the segment being specified. Center

specifications of an arc are always incremental (i.e., relative to the start of that arc segment).

When absolute coordinates are used to specify an end-point, the X and Y end-point values

represent that segment's position in the specified coordinate system. Incremental and absolute

programming are specified with the PAB command. Incremental programming is the default

state at the beginning of a path definition.

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Bosch 6000 User's Guide Page 170

Comments to this Manuals

Bosch 6000 User's Guide Page 170

Comments to this Manuals

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