Example - Multiple Moves; Vector Mode: Linear And Circular Interpolation Motion; Specifying Vector Segments - Galil Motion Control DMC-18 2 Series User Manual

Example - Multiple Moves

This example makes a coordinated linear move in the XY plane. The Arrays VX and VY are used to
store 750 incremental distances which are filled by the program #LOAD.
#LOAD
DM VX [750],VY [750]
COUNT=0
N=10
#LOOP
VX [COUNT]=N
VY [COUNT]=N
N=N+10
COUNT=COUNT+1
JP #LOOP,COUNT<750
#A
CAS
LM XY
COUNT=0
#LOOP2;JP#LOOP2,_LM=0
JS#C,COUNT=500
LI VX[COUNT],VY[COUNT]
COUNT=COUNT+1
JP #LOOP2,COUNT<750
LE
AMS
MG "DONE"
EN
#C;BGS;EN

Vector Mode: Linear and Circular Interpolation Motion

The DMC-18x2 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion
along the path is continuous at the chosen vector speed even at transitions between linear and circular
segments. The DMC-18x2 performs all the complex computations of linear and circular interpolation,
freeing the host PC from this time intensive task.
The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be
selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where 'm' and 'n' are the coordinated pair and p is the tangent axis (Note:
the commas which separate m, n, and p are not necessary). For example, VM XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.

Specifying Vector Segments

The motion segments are described by two commands; VP for linear segments and CR for circular
segments. Once a set of linear segments and/or circular segments have been specified, the sequence is
DMC-18x2
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Load Program
Define Array
Initialize Counter
Initialize position increment
LOOP
Fill Array VX
Fill Array VY
Increment position
Increment counter
Loop if array not full
Label
Specify coordinate system S
Specify linear mode for XY
Initialize array counter
If sequence buffer full, wait
Begin motion on 500th segment
Specify linear segment
Increment array counter
Repeat until array done
End Linear Move
After Move sequence done
Send Message
End program
Begin Motion Subroutine
Chapter 6 Programming Motion • 77