PMC Software - Precision MicroControl - #6

PMC provides programming support for DOS, Windows, and stand-alone applications. Below are two motion control programming examples. Each example shows how to program the same motion using MCCL commands and MCAPI functions.

Any or all axes can be easily programmed for independent motion with a minimum of commands.

PMC's motion control cards support simultaneous Linear and/or Circular Contouring. Any number of axes (as many as eight) with any combination of Servo and Stepper motors can be used. The on-board CPU will compute points on the path at intervals of 125 u.sec, while still allowing on-the-fly changes of feed rate, acceleration, deceleration, and PID parameters. For example:

MCCL

1SV15,1SA5, 1DS5 1MR3.5,1WS0.005,1MR-3.5

; Set Axis #1 vel., Accel. & Decel ; Move axis #1 3.5", wait 5 msec, ; Move-3.5"

MCCL

1VV10,1VA50,1VD50

1CM1,2CM1,3CM1

1CP1,1MA15,2MA15,3MA5

; Set Vector Vel.,Accel., & Decel.

; Contour Mode Axesl, 2, & 3

; Contour Move (CP1=

; Linear Interpolation) Absolute Move

; to Axis 1 = 15.0", 2=15.0", 3=5.0"

MCAPI using "C"

MCSetVelocity( 1, 15.0 ); MCSetAccleration( 1, 5.0 ); MCSetDeceleration( 1, 5.0 ); MCMoveRelative( 1, 3.5 ); MCWaitForStop( 1, 0.005 ); MCMoveRelative( 1, -3.5 );

MCAPI using "basic"

Call MCSetVelocity( 1, 15.0 ) Call MCSetAccleration( 1, 5.0 ) Call MCSetDeceleration( 1, 5.0 ) Call MCMoveRelative( 1, 3.5 ) Call MCWaitForStop( 1, 0.005 ) Call MCMoveRelative( 1, -3.5 )

// set axis 1 velocity

// set axis 1 acceleration

// set axis 1 deceleration

// move axis 1 by 3.5 inches

// wait 5msec after axis 1 stops

// move axis 1 by -3.5 inches position

MCAPI using "basic"

set contour velocity set contour acceleration set contour deceleration initialize axis with contour

settings

set axis 1 velocity set axis 1 acceleration set axis 1 deceleration move axis 1 by 3.5 inches wait 5 msec after axis 1 stops move axis 1 by 3.5 inches

Call MCSetOperatingMode( 1, 1, CONTOUR ) Call MCSetOperatingMode( 2, 1, CONTOUR )

Call MCSetOperatingMode( 3, 1, CONTOUR )

axis one is in control axis two linked to axis one motion

axis three linked to

' axis two

Call MCContourPath( 1, LINEAR, " 1MA15,2MA15,3MA5" )

To assist the machine builder, powerful software tools are included with the Windows MCAPI. For the programmer, there is a wealth of commented sample source code. And our Motion Integrator™ suite of setup, tuning and diagnostic programs will help you get your system up and running in no time.

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