Example - Multiple Moves; Vector Mode: Linear And Circular Interpolation Motion; Specifying Vector Segments - Galil Motion Control DMC-14 5 Series 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.
Instruction
#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
LM XY
COUNT=0
#LOOP2;JP#LOOP2,_LM=0
JS#C,COUNT=250
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-14XX 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-14XX 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. Note that only one pair of
axes can be specified for coordinated motion at any given time.

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
ended with the command VE. This defines a sequence of commands for coordinated motion.
Immediately prior to the execution of the first coordinated movement, the controller defines the current
DMC-14x5/6
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Interpretation
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 linear mode for XY
Initialize array counter
If sequence buffer full, wait
Begin motion on 250th 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 65
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