Example 15 - Linear Interpolation; Example 16 - Circular Interpolation - Galil Motion Control DMC-18 2 Series User Manual

SP 2000
BGX
AMX
WT 500
#B
V1 = _TPX
PR -V1/2
BGX
AMX
WT 500
V1=
JP #C, V1=0
JP #B
#C
EN
To start the program, command
XQ #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPX is an internal variable which returns the value of the X position. Variables may
be created by preceding a DMC-18x2 instruction with an underscore. For example, UI=_TPX.

Example 15 - Linear Interpolation

Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
Instruction
LM XYZ
LI 7000,3000,6000
LE
VS 6000
VA 20000
VD 20000
BGS

Example 16 - Circular Interpolation

Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-4. Note that the
vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion
sequence. See application programming for further information.
Instruction
VM XY
VP -4000,0
CR 2000,270,-180
VP 0,4000
CR 2000,90,-180
VS 1000
DMC-18x2
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Set speed
Move X
Wait until move is complete
Wait 500 ms
Determine distance to zero
Command X move 1/2 the distance
Start X motion
After X moved
Wait 500 ms
Report the value of V1
Exit if position=0
Repeat otherwise
Label #C
End of Program
Execute Program #A
Interpretation
Specify linear interpolation axes
Relative distances for linear interpolation
Linear End
Vector speed
Vector acceleration
Vector deceleration
Start motion
Interpretation
Select XY axes for circular interpolation
Linear segment
Circular segment
Linear segment
Circular segment
Vector speed
Chapter 2 Getting Started • 27