Command Summary - Linear Interpolation; Operand Summary - Linear Interpolation; Example - Linear Move - Galil Motion Control DMC-1600 Series User Manual

Command Summary - Linear Interpolation

COMMAND
LM xyzw
LM abcdefgh
LM?
LI x,y,z,w < n
LI a,b,c,d,e,f,g,h <
n
VS n
VA n
VD n
VR n
BGS
CS
LE
LE?
AMS
AV n
VT

Operand Summary - Linear Interpolation

OPERAND
_AV
_CS
_LE
_LM
_VPm
To illustrate the ability to interrogate the motion status, consider the first motion segment of our
example, #LMOVE, where the X axis moves toward the point X=5000. Suppose that when
X=3000, the controller is interrogated using the command 'MG _AV'. The returned value will be
3000. The value of _CS, _VPX and _VPY will be zero.
Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of
_AV at this point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.

Example - Linear Move

Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a
vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec 2 .
LM ZW
LI,,40000,30000
LE
80 • Chapter 6 Programming Motion
DESCRIPTION
Specify axes for linear interpolation
(same) controllers with 5 or more axes
Returns number of available spaces for linear segments in DMC-1600 sequence buffer.
Zero means buffer full. 512 means buffer empty.
Specify incremental distances relative to current position, and assign vector speed n.
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
Returns the length of the vector (resets after 2147483647)
Trippoint for After Sequence complete
Trippoint for After Relative Vector distance, n
S curve smoothing constant for vector moves
DESCRIPTION
Return distance traveled
Segment counter - returns number of the segment in the sequence, starting at zero.
Returns length of vector (resets after 2147483647)
Returns number of available spaces for linear segments in DMC-1600 sequence buffer.
Zero means buffer full. 512 means buffer empty.
Return the absolute coordinate of the last data point along the trajectory.
(m=X,Y,Z or W or A,B,C,D,E,F,G or H)
Specify axes for linear interpolation
Specify ZW distances
Specify end move
DMC-1600