Command Summary - Linear Interpolation; Operand Summary - Linear Interpolation - Galil Motion Control DMC-14 5 Series Manual

Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001.
This command takes effect immediately and causes VS to be scaled. VR also applies when the vector
speed is specified with the '<' operator. This is a useful feature for feedrate override. VR does not
ratio the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.

Command Summary - Linear Interpolation

Command
LM xy
LM?
LI x,y < n
VS n
VA n
VD n
VR n
BGS
CS
LE
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.
62 Chapter 6 Programming Motion
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Description
Specify axes for linear interpolation
Returns number of available spaces for linear segments in DMC-14XX sequence buffer.
Zero means buffer full. 255 means buffer empty.
Specify incremental distances relative to current position, and assign vector speed n.
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Specify the vector speed ratio
Begin Linear Sequence (on S coordinate system)
Clear sequence
Linear End- Required at end of LI command sequence
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-14XX sequence buffer.
Zero means buffer full. 255 means buffer empty.
Return the absolute coordinate of the last data point along the trajectory.
(x=X,Y,Z or W)
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