Galil DMC-13X8 Command Summary Linear Interpolation, Changing Feedrate, #Alt, Lm?, Bgs Le? Ams

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 VA and VD.

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	Label for alternative program
DP 0,0	Define Position of X and Y axis to be 0
LMXY	Define linear mode between X and Y axes.
LI 4000,0 <4000 >1000	Specify first linear segment with a vector speed of 4000 and end speed 1000
LI 1000,1000 < 4000 >1000	Specify second linear segment with a vector speed of 4000 and end speed 1000
LI 0,5000 < 4000 >1000	Specify third linear segment with a vector speed of 4000 and end speed 1000
LE	End linear segments
BGS	Begin motion sequence
EN	Program end

Changing Feedrate:

The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001. This command takes effect immediately and causes VS to be scaled. VR also applies when the vector speed is specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not ratio the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.

Command Summary - Linear Interpolation

COMMAND

LM xyzw

LM?

LI x,y,z,w < n

VS n

VA n

VD n

VR n

BGS

CS

LE

LE?

AMS

AV n

VT

DESCRIPTION

Specify axes for linear interpolation

Returns number of available spaces for linear segments in DMC-13X8 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

Chapter 6 Programming Motion • 70 USER MANUAL