Vector Mode: Linear And Circular Interpolation Motion; Specifying Vector Segments - Galil Motion Control DMC-1000 User Manual

COUNT=0
N=0
#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=500
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-1000 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion
along the path is continuous at the prescribed vector speed even at transitions between linear and
circular segments. The DMC-1000 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. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where 'm' and 'n' are the coordinated pair and p is the tangent axis (Note:
the commas which separate m,n and p are not necessary). For example, VM XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.
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
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.
54 • Chapter 6 Programming Motion
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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 500th 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

Specifying Vector Segments

DMC-1000