Galil Motion Control DMC-18 2 Series, User Manual

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DMC-18x2 Chapter 6 Programming Motion • 77
Example - Multiple Moves
This example makes a coordinated linear move in the XY plane. The Arrays VX and VY are used to
store 750 incremental distances which are filled by the program #LOAD.
#LOAD Load Program
DM VX [750],VY [750] Define Array
COUNT=0 Initialize Counter
N=10 Initialize position increment
#LOOP LOOP
VX [COUNT]=N Fill Array VX
VY [COUNT]=N Fill Array VY
N=N+10 Increment position
COUNT=COUNT+1 Increment counter
JP #LOOP,COUNT<750 Loop if array not full
#A Label
CAS Specify coordinate system S
LM XY Specify linear mode for XY
COUNT=0 Initialize array counter
#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait
JS#C,COUNT=500 Begin motion on 500th segment
LI VX[COUNT],VY[COUNT] Specify linear segment
COUNT=COUNT+1 Increment array counter
JP #LOOP2,COUNT<750 Repeat until array done
LE End Linear Move
AMS After Move sequence done
MG "DONE" Send Message
EN End program
#C;BGS;EN Begin Motion Subroutine
Vector Mode: Linear and Circular Interpolation Motion
The DMC-18x2 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion
along the path is continuous at the chosen vector speed even at transitions between linear and circular
segments. The DMC-18x2 performs all the complex computations of linear and circular interpolation,
freeing the host PC from this time intensive task.
The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be
selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where ‘m’ and ‘n’ are the coordinated pair and p is the tangent axis (Note:
the commas which separate m, n, and p are not necessary). For example, VM XWZ selects the XW
axes for coordinated motion and the Z-axis as the tangent.
Specifying Vector Segments
The motion segments are described by two commands; VP for linear segments and CR for circular
segments. Once a set of linear segments and/or circular segments have been specified, the sequence is
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