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Operand Summary - Linear Interpolation
OPERAND
_AVm
_CSm
_LEm
_LMm
_VPm
To illustrate the ability to interrogate the motion status, consider the first motion segment of our example,
#lmove, where the A axis moves toward the point A=5000. Suppose that when A=3000, the controller is
interrogated using the command
be zero.
Now suppose that the interrogation is repeated at the second segment when B=2000. The value of
point is 7000,
equals 1,
_CS
Example - Linear Move
Make a coordinated linear move in the CD plane. Move to coordinates 40000,30000 counts at a vector speed of
100000 counts/sec and vector acceleration of 1000000 counts/sec
#lmove;
SH
CD;
LM
CD;
LI,,40000,30000;
LE;
VS
100000;
VA
1000000;
VD
1000000;
BG
S;
AM
S;
MO
CD;
EN;
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VC and VD. The axis
speeds are determined by the controller from:
The result is shown in Figure 6.6.
Chapter 6 Programming Motion ▫ 47
Return distance traveled
Returns number of the segment in the sequence, starting from 0
Returns length of vector (resets after 2147483647)
Returns number of available spaces for linear segments in the sequence buffer
0 means buffer full, 511 means buffer empty
Return the absolute coordinate of the last data point along the trajectory
Table 6.6: List of operands related to Linear Interpolation Mode
_AV. The returned value will be 3000. The value of _CS,
MG
equals 5000 and
_VPA
'label for program
'enable C and D axes
'specify axes for linear interpolation
'specify CD distances
'specify end move
'specify vector speed
'specify vector acceleration
'specify vector deceleration
'begin sequence
'wait for motion to finish
'disable C and D axes
'end program
√
2
2
VS=
VC
+VD
DESCRIPTION
equals 0.
_VPB
2
.
and
will
_VPA
_VPB
at this
_AV
DMC-21x5 User Manual 1.0a1
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