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The commands VS n, VA n, and VD n are used to specify the vector speed, acceleration and
deceleration. The DMC-1000 computes the vector speed based on the axes specified in the LM mode.
For example, LM XYZ designates linear interpolation for the X,Y and Z axes. The vector speed for
this example would be computed using the equation:
2
2
VS
=XS
The controller always uses the axis specifications from LM, not LI, to compute the speed.
In cases where the acceleration causes the system to 'jerk', the DMC-1000 provides a vector motion
smoothing function. VT is used to set the S-curve smoothing constant for coordinated moves.
The DMC-1000 provides commands for additional control of vector motion and program control.
Note: Many of the commands used in Linear Interpolation motion also applies Vector motion
described in the next section.
The command AV n is the 'After Vector' trippoint, which halts program execution until the vector
distance of n has been reached.
In this example, the XY system is required to perform a 90
the corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors
reach the corner, the speed is increased back to 4000 cts / s.
Instruction
#LMOVE
DP ,,0,0
LMXY
LI 5000,0
LI 0,5000
LE
VS 4000
BGS
AV 4000
VS 1000
AV 5000
VS 4000
EN
The instruction VS has an immediate effect and, therefore, must be given at the required time. In some
applications, such as CNC, it is necessary to attach various speeds to different motion segments. This
can be done by the instruction
LI x,y,z,w < n
50 • Chapter 6 Programming Motion
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Specifying Vector Acceleration, Deceleration and
Speed:
2
2
+YS
+ZS
, where XS, YS and ZS are the speed of the X,Y and Z axes.
Additional Commands
Trippoints
Interpretation
Label
Define position of Z and W axes to be 0
Define linear mode between X and Y axes.
Specify first linear segment
Specify second linear segment
End linear segments
Specify vector speed
Begin motion sequence
Set trippoint to wait until vector distance of 4000 is reached
Change vector speed
Set trippoint to wait until vector distance of 5000 is reached
Change vector speed
Program end
Specifying Vector Speed for Each Segment
°
turn. In order to slow the speed around
DMC-1000
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