Galil Motion Control DMC-21 5 Series User Manual page 50

stop motion instantly at the last vector. There will be no controlled deceleration.
spaces for LI segments that can be sent to the buffer. 511 returned means the buffer is empty and 511
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
LI
The operand _CS returns the segment counter. As the segments are processed,
This function allows the host computer to determine which segment is being processed.
Additional Commands
The commands VS, VA, and
computes the vector speed based on the axes specified in the
interpolation for the A,B and C axes. The vector speed for this example would be computed using the equation:
VS 2 =AS 2 +BS 2 +CS 2 , where AS, BS and CS are the speed of the A,B and C axes.
The controller always uses the axis specifications from LM, not LI, to compute the speed.
IT is used to set the S-curve smoothing constant for coordinated moves. The After Vector trippoint
program execution until the specified vector distance has been reached.
An Example of Linear Interpolation Motion:
#lmove;
DP 0,0;
SH AB;
LM AB;
LI 5000,0;
LI 0,5000;
LE;
VS 4000;
BG S;
AV 4000;
VS 1000;
AV 5000;
VS 4000;
AM S;
MO AB;
EN;
In this example, the AB system is required to perform a 90° turn. In order to slow the speed around the corner, the
trippoint is used which slows the speed to 1000 count/s. Once the motors reach the corner, the speed is
AV 4000
increased back to 4000 counts/s.
Specifying Vector Speed for Each Segment
The instruction has an immediate effect and, therefore, must be given at the required time. In some
VV
applications, such as CNC, it is necessary to attach various speeds to different motion segments. This can be done
by two functions: < n and > m
For example:
LI a,b,c,d
The first command, < n, is equivalent to commanding
acceleration toward the new commanded speeds, subjects to the other constraints.
Chapter 6 Programming Motion ▫ 45
segments can be sent at PC bus speeds.
VD are used to specify the vector speed, acceleration and deceleration. The DMC-21x5
'label
'define position of A and B axes to be 0
'servo A and B axes
'define linear mode between A and B 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
'after motion of S vector is completed
'disable A and B axes
'program end
< n >m
LM mode. For example,
at the start of the given segment and will cause an
VSn
LM? or _LM returns the available
LI
_CS increases, starting at zero.
LM ABC designates linear
AV halts
DMC-21x5 User Manual 1.0a1