Operand Summary - Linear Interpolation

OPERAND

_AV

_CS

_LE

_LM

_VPm

DESCRIPTION

Return distance travelled

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-13X8 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)

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/sec2.

LM ZW

Specify axes for linear interpolation

LI,,40000,30000

Specify ZW distances

LE

Specify end move

VS 100000

Specify vector speed

VA 1000000

Specify vector acceleration

VD 1000000

Specify vector deceleration

BGS

Begin sequence

Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and VW. The axis speeds are determined by the controller from:

VS = VZ 2 + VW 2

The resulting profile is shown in Figure 6.2.

USER MANUAL

Chapter 6 Programming Motion • 71

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Image 71
Galil DMC-13X8 user manual Operand Summary Linear Interpolation, Example Linear Move, Lm Zw