Galil DMC-3425 Command Summary - Linear Interpolation, Operand Summary - Linear Interpolation

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 nn

LM ?

LI x,y < n

LI a,b < 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-3425 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

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-3425 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)

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 Y=2000. The value of _AV at this point is 7000, _CS equals 1, _VPA=5000 and _VPB=0.

DMC-3425 Chapter 6 Programming Motion• 75