Table of Contents
Advertisement
N=10
#LOOP
VX [COUNT]=N
VY [COUNT]=N
N=N+10
COUNT=COUNT+1
JP #LOOP,COUNT<750
#A
LM XY
COUNT=0
#LOOP2;JP#LOOP2,_LM=
0
JS#C,COUNT=500
LI
VX[COUNT],VY[COUNT]
COUNT=COUNT+1
JP #LOOP2,COUNT<750
LE
AMS
MG "DONE"
EN
#C;BGS;EN
Coordinated Motion Sequences
The DMC-1600 allows a long 2-D path consisting of linear and arc segments to be prescribed.
Motion along the path is continuous at the prescribed vector speed even at transitions between
linear and circular segments. The DMC-1600 performs all the complex computations of linear
and circular interpolation, freeing the host PC from this time intensive task.
The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes
may be selected for coordinated motion consisting of linear and circular segments. In addition, a
third axis can be controlled such that it remains tangent to the motion of the selected pair of axes.
Note that only one pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where 'm' and 'n' are the coordinated pair and p is the tangent axis
(Note: the commas which separate m,n and p are not necessary). For example, VM XWZ selects
the XW axes for coordinated motion and the Z-axis as the tangent.
Specifying the Coordinate Plane
The DMC-1600 allows for 2 separate sets of coordinate axes for linear interpolation mode or
vector mode. These two sets are identified by the letters S and T.
To specify vector commands the coordinate plane must first be identified. This is done by issuing
the command CAS to identify the S plane or CAT to identify the T plane. All vector commands
will be applied to the active coordinate system until changed with the CA command.
DMC-1600
Initialize position increment
LOOP
Fill Array VX
Fill Array VY
Increment position
Increment counter
Loop if array not full
Label
Specify linear mode for XY
Initialize array counter
If sequence buffer full, wait
Begin motion on 500th segment
Specify linear segment
Increment array counter
Repeat until array done
End Linear Move
After Move sequence done
Send Message
End program
Begin Motion Subroutine
Chapter 6 Programming Motion • 83
Advertisement
Table of Contents
