Example 15 - Linear Interpolation; Example 16 - Circular Interpolation - Galil Motion Control DMC-1000 User Manual

JP #C, V1=0
JP #B
#C
EN
To start the program, command
XQ #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPX is an internal variable which returns the value of the X position. Internal
variables may be created by preceding a DMC-1000 instruction with an underscore, _.
Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
Instruction
LM XYZ
LI 7000,3000,6000
LE
VS 6000
VA 20000
VD 20000
BGS
Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-4. Note that the
vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion
sequence. See application programming for further information.
Instruction
VM XY
VP -4000,0
CR 2000,270,-180
VP 0,4000
CR 2000,90,-180
VS 1000
VA 50000
VD 50000
VE
BGS
DMC-1000
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Exit if position=0
Repeat otherwise
Label #C
End of Program
Execute Program #A

Example 15 - Linear Interpolation

Interpretation
Specify linear interpolation axes
Relative distances for linear interpolation
Linear End
Vector speed
Vector acceleration
Vector deceleration
Start motion

Example 16 - Circular Interpolation

Interpretation
Select XY axes for circular interpolation
Linear segment
Circular segment
Linear segment
Circular segment
Vector speed
Vector acceleration
Vector deceleration
End vector sequence
Start motion
Chapter 2 Getting Started • 23