Operand Summary - Linear Interpolation; Example - Linear Move - Galil Motion Control DMC-18 2 Series User Manual

LE?
AMS or AMT
AV n
VT

Operand Summary - Linear Interpolation

OPERAND
_AV
_CS
_LE
_LM
_VPx
To illustrate the ability to interrogate the motion status, consider the first motion segment of our
example, #LMOVE, where the X axis moves toward the point X=5000. Suppose that when X=3000,
the controller is interrogated using the command 'MG _AV'. The returned value will be 3000. The
value of _CS, _VPX and _VPY will be zero.
Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of
_AV at this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.

Example - Linear Move

Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a
vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec 2 .
LM ZW
LI,,40000,30000
LE
VS 100000
VA 1000000
VD 1000000
BGS
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and
VW. The axis speeds are determined by the DMC-18x2 from:
=
VS VZ
The resulting profile is shown in Figure 6.2.
DMC-18x2
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Returns the length of the vector (resets after 2147483647)
Trippoint for After Sequence complete (on S or T coordinate system)
Trippoint for After Relative Vector distance, n
Motion smoothing constant for vector moves
DESCRIPTION
Return distance traveled
Segment counter - returns number of the segment in the sequence being processed, starting
at zero.
Returns length of vector (resets after 2147483647)
Returns number of available spaces for linear segments in DMC-18x2 sequence buffer.
Zero means buffer full. 511 means buffer empty.
Return the absolute coordinate of the last data point along the trajectory.
(x=X,Y,Z or W)
Specify axes for linear interpolation
Specify ZW distances
Specify end move
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Begin sequence
+
2 2
VW
Chapter 6 Programming Motion • 75