Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 Chapter 6 Programming Motion • 75
LE? Returns the length of the vector (resets after 2147483647)
AMS or AMT Trippoint for After Sequence complete (on S or T coordinate system)
AV n Trippoint for After Relative Vector distance, n
VT Motion 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 being processed, starting
at zero.
_LE Returns length of vector (resets after 2147483647)
_LM Returns number of available spaces for linear segments in DMC-18x2 sequence buffer.
Zero means buffer full. 511 means buffer empty.
_VPx Return the absolute coordinate of the last data point along the trajectory.
(x=X,Y,Z or W)
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
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 VZ and
VW. The axis speeds are determined by the DMC-18x2 from:
VS VZ VW
= +
2 2
The resulting profile is shown in Figure 6.2.
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