Command Summary - Linear Interpolation
COMMAND DESCRIPTION
LM xyzw
LM abcdefgh
Specify axes for linear interpolation
(same) controllers with 5 or more axes
LM?
Returns number of available spaces for linear segments in DMC-1600 sequence buffer.
Zero means buffer full. 512 means buffer empty.
LI x,y,z,w < n
LI a,b,c,d,e,f,g,h <
n
Specify incremental distances relative to current position, and assign vector speed n.
VS n
Specify vector speed
VA n
Specify vector acceleration
VD n
Specify vector deceleration
VR n
Specify the vector speed ratio
BGS Begin
Linear
Sequence
CS Clear
sequence
LE
Linear End- Required at end of LI command sequence
LE?
Returns the length of the vector (resets after 2147483647)
AMS
Trippoint for After Sequence complete
AV n
Trippoint for After Relative Vector distance, n
VT
S curve smoothing constant for vector moves
Operand Summary - Linear Interpolation
OPERAND DESCRIPTION
_AV Return
distance
traveled
_CS
Segment counter - returns number of the segment in the sequence, starting at zero.
_LE
Returns length of vector (resets after 2147483647)
_LM
Returns number of available spaces for linear segments in DMC-1600 sequence buffer.
Zero means buffer full. 512 means buffer empty.
_VPm
Return the absolute coordinate of the last data point along the trajectory.
(m=X,Y,Z or W or A,B,C,D,E,F,G or H)
To illustrate the ability to interrogate the motion status, consider the first motion segment of our
example, #LMOVE, where the X axis moves toward the point X=5000. Suppose that when
X=3000, the controller is interrogated using the command ‘MG _AV’. The returned value will be
3000. The value of _CS, _VPX and _VPY 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, _VPX=5000 and _VPY=0.
Example - Linear Move
Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a
vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec2.
LM ZW
Specify axes for linear interpolation
LI,,40000,30000 Specify
ZW
distances
LE Specify
end
move
80
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Chapter 6 Programming Motion
DMC-1600
