Galil DMC-2X00 Command Summary Linear Interpolation, Operand Summary Linear Interpolation

Command Summary - Linear Interpolation

COMMAND

LM abcdefgh

LM?

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

DESCRIPTION

Specify axes for linear interpolation

Returns number of available spaces for linear segments in DMC-2x00 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) Trip point for After Sequence complete

Trip point for After Relative Vector distance, n S curve smoothing constant for vector moves

Operand Summary - Linear Interpolation

OPERAND

_AV

_CS

_LE

_LM

_VPm

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-2x00 sequence buffer. Zero means buffer full. 512 means buffer empty.

Return the absolute coordinate of the last data point along the trajectory. (m= 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 A axis moves toward the point A=5000. Suppose that when A=3000, the controller is interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS, _VPA and _VPB will be zero.

Now suppose that the interrogation is repeated at the second segment when B=2000. The value of _AV at this point is 7000, _CS equals 1, _VPA=5000 and _VPB=0.

Example

Linear Interpolation Motion

In this example, the AB system is required to perform a 90° turn. In order to slow the speed around the corner, we use the AV 4000 trip point, which slows the speed to 1000 count/s. Once the motors reach the corner, the speed is increased back to 4000 cts / s.

InstructionInterpretation

#LMOVELabel

38 • Chapter 6 Programming Motion DMC-2X00