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A typical, simple, coordinated move for each motor consists of a ramp up in speed, a run at a fixed speed, and then a ramp down in speed. Each move component for each motor takes the same amount of time, so all moves stay in sync. In most cases, it is desirable that the ramps be short, but we will use a longer ramp to start with so that we can actually see what is going on. Let s add a move distance and implement this scheme in the next program. To keep it in round numbers, let s define the move we will study as follows: exactly 5 seconds to move exactly 5,000 counts of a 42-slot encoder (this was the situation for my particular motor; your situation may be different). Because that is the total specification for the move, we get to figure out what we need to do to get this done. Let s say we will run at the maximum speed for 3 seconds. This will give us 1 second to speed up and 1 second to slow down. Let s agree that we will set up the program to update the gain 100 times a second during the move, for a total of 500 iterations. In our move profile, we will have 100 steps to speed up and 100 to slow down. The other 300 interrupts will be at the constant traverse speed. Because we are ramping up and

Scoring is a circuit board fabrication method used to make long, straight cuts quickly, and therefore is often used to create rectangular profile board shapes. More commonly, however, it is used in concert with CNC routing for complex shapes, enabling each tool to be used to its unique advantage. When used with routing, scoring has a much wider application and can provide simple breakaway for complex profiles (Fig. 35.15).

Routed features Module or panel Routed features Score lines Score lines (a) (b)

FIGURE 35.15 Scoring processes: (a) module or panel with typical scoring lines and routed corners; (b) scoring lines and routed complex features.

Scoring Application Scoring is accomplished by machining a shallow, precise V-groove into the top and bottom surfaces of the laminate, generally with the use of CNC equipment. The two most significant elements of the score line are as follows:

Armed with the background and technologies behind Fusion, the next step is to understand how tools and frameworks can be used to harness these technologies.

The positional accuracy from the reference feature (usually the registration hole) The depth of the score, which determines the web thickness

down at a constant rate, the ramps will each use up 1 second and move a total of 1,000 counts for both ramps (half as much as if they were at full speed for 2 seconds). This means that during the middle 3 seconds, the motor has to move 4,000 counts or 1,333 counts per second. Considerably more than we had in mind! We could compensate for this by shortening the ramping times if that was critical, keeping in mind that a motor will ramp up only so fast and that the load affects this time. First, let s just ramp up and down. In Program 28-12, Pot1 controls the time between iterations (the larger the setting, the shorter the time and the faster the speed up), and Pot2 controls the distance moved during the ramp up and ramp down. In this program, the motor ramps up, ramps down, delays, and then goes back to the starting position rapidly (to prevent position register overflow). It Figure 28-6 Simple ramp then repeats the cycle (see Figure 28-6).

The final edges of a scored circuit board are yielded by breaking the panel, or border, at the score line (Fig. 35.16). The angle of the cutting tool is reflected in the V-groove geometry, and limiting this angle to 30 to 90 will minimize the score line intrusion into traces near the edges of the circuit board. The score line exposes the laminate glass fibers and resin. Measurements from these surfaces will vary greatly, even though the score line is precisely machined

(Fig. 35.13). These irregular surfaces will be noticed as dimensional growth and should be considered in design or planning when designated as a scored edge. Positional accuracy Board cross-section Registration hole or dimension hole Misalignment Web Score depth To break 30 90 The dimensional accuracy of the final board is determined by the degree of precision with which the following are performed:

Misalignment within 0.003 in. of the score line from the desired location Web thickness within 0.006 in. of the designated dimension

Typically, a nominal web thickness is 0.020 in. for 0.060 in. thick FR-4 boards and 0.014 in. for 0.030 in. thick FR-4 laminate. For CEM-1 or CEM-3 materials, 0.040 in. and 0.024 in. nominal web thickness values apply, respectively. These web thickness values enable sufficient module strength to avoid accidental or premature score separation while providing simple breaking efforts without excessive edge roughness or growth.

Operation Two major types of panel scoring systems are available:

up/ramp down Program 28-12 Ramp Up/Ramp Down Move with Potentiometer-Controlled Variables (Based on Time Segments, Not Encoder Counts)