Additional Commands - Galil Motion Control DMC-14 5 Series Manual

position to be zero for all movements in a sequence. Note: This 'local' definition of zero does not
affect the absolute coordinate system or subsequent coordinated motion sequences.
The command, VP x,y specifies the coordinates of the end points of the vector movement with respect
to the starting point. The command, CR r,
and a traversed angle
and for both
Up to 255 segments of CR or VP may be specified in a single sequence and must be ended with the
command VE. The motion can be initiated with a Begin Sequence (BGS or BGT) command. Once
motion starts, additional segments may be added.
The Clear Sequence (CS) command can be used to remove previous VP and CR commands which
were stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS
or AB1. ST stops motion at the specified deceleration. AB1 aborts the motion instantaneously.
The Vector End (VE) command must be used to specify the end of the coordinated motion. This
command tells the controller to decelerate to a stop following the last motion in the sequence. If a VE
command is not given, an Abort (AB1) must be used to abort the coordinated motion sequence.
The user must keep enough motion segments in the DMC-14XX sequence buffer to ensure continuous
motion. If the controller receives no additional motion segments and no VE command, the controller
will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM
returns the available spaces for motion segments that can be sent to the buffer. 255 returned means the
buffer is empty and 255 segments can be sent. A zero means the buffer is full and no additional
segments can be sent. As long as the buffer is not full, additional segments can be sent at the PCI bus
speed.
The operand _CS can be used to determine the value of the segment counter.

Additional commands

The commands VS n, VA n and VD n are used for specifying the vector speed, acceleration, and
deceleration.
VT is the motion smoothing constant used for coordinated motion.
Specifying Vector Speed for Each Segment:
The vector speed may be specified by the immediate command VS. It can also be attached to a motion
segment with the instructions
VP x,y < n >m
CR r,
The first parameter, <n, is equivalent to commanding VSn at the start of the given segment and will
cause an acceleration toward the new commanded speeds, subjects to the other constraints.
The second parameter, > m, requires the vector speed to reach the value m at the end of the segment.
Note that the function > m may start the deceleration within the given segment or during previous
segments, as needed to meet the final speed requirement, under the given values of VA and VD.
Note, however, that the controller works with one > m command at a time. As a consequence, one
function may be masked by another. For example, if the function >100000 is followed by >5000, and
the distance for deceleration is not sufficient, the second condition will not be met. The controller will
attempt to lower the speed to 5000, but will reach that at a different point.
Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled from 0 and 10 times with a resolution of
.0001. This command takes effect immediately and causes VS scaled. VR also applies when the
66 Chapter 6 Programming Motion
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δ
. The notation for
θ δ
and , the counter-clockwise (CCW) rotation is positive.
θ,δ
< n >m
θ,δ
define a circular arc with a radius r, starting angle of
θ
is that zero corresponds to the positive horizontal direction,
θ
,
DMC-14x5/6