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Operand Summary - Coordinated Motion Sequence
OPERAND
_VPm
_AVm
_LMm
_CSm
_VEm
Example:
Traverse the path shown in Figure 6.7. Feed rate is 20000 counts/sec. Plane of motion is AB
SH
AB;
VM
AB;
VS
20000;
VA
1000000;
VD
1000000;
VP
-4000,0;
CR
1500,270,-180;
VP
0,3000;
CR
1500,90,-180;
VE;
BG
S;
AM
S;
MO
AB;
EN;
The resulting motion starts at the point A and moves toward points B, C, D, A. Suppose the controller is
interrogated when the motion is halfway between the points A and B.
The value of
is 2000.
_AVS
The value of
is 0.
_CSS
and
contain the absolute coordinate of the point A.
_VPA
_VPB
Suppose that the interrogation is repeated at a point, halfway between the points C and D.
The value of
is 4000+1500π+2000=10,712.
_AVS
The value of
is 2.
_CSS
contain the coordinates of the point C.
_VPA,
_VPB
Chapter 6 Programming Motion ▫ 52
The absolute coordinate of 'm' axis at the last intersection along the sequence
Contains the vector distance from the start of the sequence for the 'm' coordinate system
Number of available spaces for linear and circular segments in DMC-21x5 sequence buffer
0 means buffer is full, 511 means buffer is empty
Number of the segment in the sequence for the 'm' coordinate system, starting at zero
Vector length of coordinated move sequence for the 'm' coordinate system
Table 6.8: List of operands related to Vector Mode
'enable A and B axes
'specify motion plane
'specify vector speed
'specify vector acceleration
'specify vector deceleration
'segment from point A to point B
'segment from point B to point C
'segment from point C to point D
'segment from point D to point A
'end of sequence
'begin sequence
'wait until motion is completed
'disable A and B axes
'end program
C (-4000,3000)
R = 1500
B (-4000,0)
Figure 6.7: The Required Path
DESCRIPTION
D (0,3000)
A (0,0)
DMC-21x5 User Manual 1.0a1
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