Galil Motion Control DMC-21 5 Series User Manual page 51

The second function, > m, requires the vector speed to reach the value m at the end of the segment. Note that the
function > m may start the deceleration within the given segment or during previous segments, as needed to meet
the final speed requirement, under the given values of
Note, however, that the controller works with one > m command at a time. As a consequence, one function may
be masked by another. For example, if the function >100000 is followed by >5000, and the distance for
deceleration is not sufficient, the second condition will not be met. The controller will attempt to lower the speed
to 5000, but will reach that at a different point.
As an example, consider the following program.
#alt;
DP 0,0;
SH AB;
LM AB;
LI 4000,0<4000>1000;
LI 1000,1000<4000>1000;
LI 0,5000<4000>1000;
LE;
BG S;
AM S;
MO AB;
EN;
Changing Feed Rate:
The command VR allows the feed rate, VS, to be scaled between 0 and 10 with a resolution of .0001. This
command takes effect immediately and causes
with the '<' operator. This is a useful feature for feed rate override.
example, VR .5 results in the specification
Command Summary - Linear Interpolation
COMMAND
LM
LI
VS
VA
VD
VR
BG
CS
LE
AM
AV
IT
Chapter 6 Programming Motion ▫ 46
'label for alternative program
'define Position of A and Y axis to be 0
'enable A and B axes
'define linear mode between A and Y axes.
'specify first linear segment with a vector speed of
4000 and end speed 1000
'specify second linear segment with a vector speed
of 4000 and end speed 1000
'specify third linear segment with a vector speed of
4000 and end speed 1000
'end linear segments
'begin motion sequence
'halt code until motion on the S plane is completed
'disable A and B axes
'program end
VS to be scaled.
VS 2000
Specify axes for linear interpolation
Specify incremental distances relative to current position, and assign vector speed
Specify vector speed
Specify vector acceleration
Specify vector deceleration
Specify the vector speed ratio
Begin Linear Sequence
Clear sequence
Linear End- Required at end of LI command sequence
Trippoint for After Sequence complete
Trippoint for After Relative Vector distance
S curve smoothing constant for vector moves
Table 6.5: List of commands for Linear Interpolation Mode
VA and VD.
VR also applies when the vector speed is specified
VR does not ratio the accelerations. For
to be divided in half.
DESCRIPTION
DMC-21x5 User Manual 1.0a1