V1 = _TPX
Determine distance to zero
PR -V1/2
Command X move 1/2 the distance
BGX
Start X motion
AMX
After X moved
WT 500
Wait 500 ms
V1=
Report the value of V1
JP #C, V1=0
Exit if position=0
JP #B
Repeat otherwise
#C Label
#C
EN
End of Program
To start the program, command
XQ #A
Execute Program #A
This program moves X to an initial position of 1000 and returns it to zero on increments of half
the distance. Note, _TPX is an internal variable which returns the value of the X position.
Internal variables may be created by preceding a DMC-1600 instruction with an underscore, _.
Example 15 - Linear Interpolation
Objective: Move X,Y,Z motors distance of 7000,3000,6000, respectively, along linear trajectory.
Namely, motors start and stop together.
Instruction Interpretation
LM XYZ
Specify linear interpolation axes
LI 7000,3000,6000
Relative distances for linear interpolation
LE Linear
End
VS 6000
Vector speed
VA 20000
Vector acceleration
VD 20000
Vector deceleration
BGS Start
motion
Example 16 - Circular Interpolation
Objective: Move the XY axes in circular mode to form the path shown on Fig. 2-4. Note that the
vector motion starts at a local position (0,0) which is defined at the beginning of any vector
motion sequence. See application programming for further information.
Instruction Interpretation
VM XY
Select XY axes for circular interpolation
VP -4000,0
Linear segment
CR 2000,270,-180
Circular segment
VP 0,4000
Linear segment
CR 2000,90,-180
Circular segment
VS 1000
Vector speed
VA 50000
Vector acceleration
VD 50000
Vector deceleration
VE
End vector sequence
BGS Start
motion
DMC-1600
Chapter 2 Getting Started
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