Galil DMC-3425 user manual Example Linear Move, Linear Interpolation Motion, #Lmove, Lm Ab

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 trippoint, which slows the speed to 1000 count/s. Once the motors reach the corner, the speed is increased back to 4000 cts / s.

Instruction	Interpretation
#LMOVE	Label
DP 0,0	Define position of A and B axes to be 0
LMAB	Define linear mode between A and B axes.
LI 5000,0	Specify first linear segment
LI 0,5000	Specify second linear segment
LE	End linear segments
VS 4000	Specify vector speed
BGS	Begin motion sequence
AV 4000	Set trippoint to wait until vector distance of 4000 is reached
VS 1000	Change vector speed
AV 5000	Set trippoint to wait until vector distance of 5000 is reached
VS 4000	Change vector speed
EN	Program end

Example - Linear Move

Make a coordinated linear move in the AB plane. Move to coordinates 40000,30000 counts at a vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec2.

Instruction	Interpretation
LM AB	Specify axes for linear interpolation
LI40000,30000	Specify AB 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 VA and VB the axis speeds are determined by the DMC-3425 from:

VS = VA 2 + VB 2

The resulting profile is shown in Figure 6.2.

76 • Chapter 6 Programming Motion DMC-3425