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-40x0 sequence
buffer. Zero means buffer full. 511 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
IT
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-40x0 sequence buffer.
Zero means buffer full. 511 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
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 controller from:
VS
VZ
VW
2
2
Chapter 6 Programming Motion ▫ 81
DMC-40x0 User Manual