Galil DMC-1800, DMC-1700 Example 15 - Linear Interpolation, Example 16 - Circular Interpolation

Instruction	Interpretation
#A;DP0	Label; Define current position as zero
PR 4000	Initial position
SP 2000	Set speed
BGX	Move X
AMX	Wait until move is complete
WT 500	Wait 500 ms
#B
V1 = _TPX	Determine distance to zero
PR -V1/2	Command X move ½ the distance
BGX	Start X motion
AMX	After X moved
WT 500	Wait 500 ms
V1=	Report the value of V1
JP #C, V1=0	Exit if position=0
JP #B	Repeat otherwise
#C	Label #C
EN	End of Program
To start the program, command
XQ #A	Execute Program #A

This program moves X to an initial position of 1000 and returns it to zero on increments of half the distance. Note, _TPX is an internal variable which returns the value of the X position. Internal variables may be created by preceding a DMC-1700/1800 instruction with an underscore, _.

Example 15 - Linear Interpolation

Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely, motors start and stop together.

Instruction	Interpretation
LM XYZ	Specify linear interpolation axes
LI 7000,3000,6000	Relative distances for linear interpolation
LE	Linear End
VS 6000	Vector speed
VA 20000	Vector acceleration
VD 20000	Vector deceleration
BGS	Start motion

Example 16 - Circular Interpolation

Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-8. Note that the vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion sequence. See application programming for further information.

Instruction	Interpretation
VM XY	Select XY axes for circular interpolation
VP –4000,0	Linear segment
CR 2000,270,-180	Circular segment

40 • Chapter 2 Getting Started DMC-1700/1800