Galil DMC-3425 user manual Command Summary - Coordinated Motion Sequence, Trippoints

Compensating for Differences in Encoder Resolution:

By default, the DMC-3425 uses a scale factor of 1:1 for the encoder resolution when used in vector mode. If this is not the case, the command, ES can be used to scale the encoder counts. The ES command accepts two arguments that represent the ratio of the encoder resolutions. For more information refer to ES in the Command Reference.

Trippoints:

The AV n command is the After Vector trippoint, which waits for the vector relative distance of n to occur before executing the next command in a program.

Command Summary - Coordinated Motion Sequence

COMMAND

VM m,n

VP m,n

CR r,θ,δ

VS n

VA n

VD n

VR n

BGS

CS

AV n

AMS

ES m,n

VT

LM?

DESCRIPTION

Specifies the axes for the planar motion where m and n represent the planar axes. Return coordinate of last point, where m=A,B,C or D.

Specifies arc segment where r is the radius, θ is the starting angle and δ is the travel angle. Positive direction is CCW.

Specify vector speed or feedrate of sequence. Specify vector acceleration along the sequence. Specify vector deceleration along the sequence. Specify vector speed ratio

Begin motion sequence Clear sequence.

Trippoint for After Relative Vector distance, n.

Holds execution of next command until Motion Sequence is complete. Ellipse scale factor.

S curve smoothing constant for coordinated moves

Return number of available spaces for linear and circular segments in DMC-3425 sequence buffer. Zero means buffer is full. 512 means buffer is empty.

Operand Summary - Coordinated Motion Sequence

COMMAND	DESCRIPTION
_VPM	The absolute coordinate of the axes at the last intersection along the sequence.
_AV	Distance traveled.
_LM	Number of available spaces for linear and circular segments in DMC-3425 sequence
	buffer. Zero means buffer is full. 512 means buffer is empty.
_CS	Segment counter - Number of the segment in the sequence, starting at zero.
_VE	Vector length of coordinated move sequence.

When AV is used as an operand, _AV returns the distance traveled along the sequence.

The operands _VPA and _VPB can be used to return the coordinates of the last point specified along the path.

80 • Chapter 6 Programming Motion DMC-3425