Galil DMC-2X00 user manual Vector Mode Linear and Circular Interpolation Motion, Multiple Moves

Multiple Moves

This example makes a coordinated linear move in the AB plane. The Arrays VA and VB are used to store 750 incremental distances which are filled by the program #LOAD.

Instruction	Interpretation
#LOAD	Load Program
DM VA [750],VB [750]	Define Array
count=0	Initialize Counter
n=10	Initialize position increment
#LOOP	LOOP
VA [count]=n	Fill Array VA
VB [count]=n	Fill Array VB
n=n+10	Increment position
count = count +1	Increment counter
JP #LOOP, count <750	Loop if array not full
#A	Label
LM AB	Specify linear mode for AB
count =0	Initialize array counter
#LOOP2;JP#LOOP2,_LM=0	If sequence buffer full, wait
JS#C, count =500	Begin motion on 500th segment
LI VA[count],VB[count]	Specify linear segment
count = count +1	Increment array counter
JP #LOOP2, count <750	Repeat until array done
LE	End Linear Move
AMS	After Move sequence done
MG "DONE"	Send Message
EN	End program
#C;BGS;EN	Begin Motion Subroutine

Vector Mode: Linear and Circular Interpolation Motion

The DMC-2x00 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-2x00 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 ABC selects the AD axes for coordinated motion and the C-axis as the tangent.

Specifying the Coordinate Plane

The DMC-2x00 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.

DMC-2X00 Chapter 6 Programming Motion y 41