Linear Interpolation Mode - Galil Motion Control DMC-21 5 Series User Manual

Note the controller treats the point where the velocity passes through zero as the end of one move, and the
beginning of another move.
Trippoints
Most trippoints are valid for use while in the position tracking mode. There are a few exceptions to this; the
MC commands may not be used while in this mode. It is recommended that AR, MF, MR, or
involve motion in a specified direction, or the passing of a specific absolute position.
Command Summary – Position Tracking Mode
COMMAND
AC Acceleration settings for the specified axes
AP Trippoint that holds up program execution until an absolute position has been reached
DC Deceleration settings for the specified axes
Trippoint to hold up program execution until n number of counts have passed in the forward
MF
direction. Only one axis at a time may be specified.
Trippoint to hold up program execution until n number of counts have passed in the reverse
MR
direction, only one axis at a time may be specified
PT Command used to enter and exit Position Tracking Mode
PA Command Used to specify the absolute position target
SP Speed settings for the specified axes

Linear Interpolation Mode

The DMC-21x5 provides a linear interpolation mode for 2 or more axes. In linear interpolation mode, motion
between the axes is coordinated to maintain the prescribed vector speed, acceleration, and deceleration along the
specified path. The motion path is described in terms of incremental distances for each axis. An unlimited number
of incremental segments may be given in a continuous move sequence, making the linear interpolation mode ideal
for following a piece-wise linear path. There is no limit to the total move length.
The command selects the Linear Interpolation mode and axes for interpolation. For example,
LM
the B and C axes for linear interpolation.
When using the linear interpolation mode, the
linear interpolation change.
Specifying Linear Segments
The LI command specifies the incremental move distance for each specified axis. This means motion is prescribed
with respect to the current axis position. Up to 511 incremental move segments may be given prior to the Begin
Sequence (BGS) command. Once motion has begun, additional
The Clear Sequence (CS) command can be used to remove
the motion. To stop the motion, use the instructions
Abort command, AB, causes an instantaneous stop and aborts the program, and the command
motion only.
The Linear End (LE) command must be used to specify the end of a linear move sequence. This command tells the
controller to decelerate to a stop following the last
must be used to abort the motion sequence.
It is the responsibility of the user to keep enough
continuous motion. If the controller receives no additional
Chapter 6 Programming Motion ▫ 44
IT is allowed, however it will introduce some time delay.
Table 6.4: List of commands for Position Tracking Mode
LM command only needs to be specified once unless the axes for
STS
LI
LI segments in the DMC-21x5 sequence buffer to ensure
DESCRIPTION
segments may be sent to the controller.
LI
segments stored in the buffer prior to the start of
LI
or AB. The command, ST, causes a decelerated stop. The
command. If an command is not given, an Abort
LE
LI segments and no LE
AM
AP be used, as they
selects only
LM BC
AB1 aborts the
AB1
command, the controller will
DMC-21x5 User Manual 1.0a1
and