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VM
DMC-40x0 Command Reference
VM
FUNCTION:
Coordinated Motion Mode
DESCRIPTION:
The VM command specifies the coordinated motion mode and the plane of motion. This mode
may be specified for motion on any set of two axes.
The motion is specified by the instructions VP and CR, which specify linear and circular
segments. Up to 511 segments may be given before the Begin Sequence (BGS or BGT)
command. Additional segments may be given during the motion when the buffer frees
additional spaces for new segments. It is the responsibility of the user to keep enough motion
segments in the buffer to ensure continuous motion.
The Vector End (VE) command must be given after the last segment. This allows the controller to
properly decelerate.
The VM command will apply to the selected coordinate system, S or T. To select the coordinate
system, use the command CAS or CAT.
ARGUMENTS:
VM nmp
where
n and m specify plane of vector motion and can be any two axes. Vector Motion can be specified
for one axis by specifying 2
nd
parameter, m, as N. Specifying one axis is useful for obtaining
sinusoidal motion on 1 axis.
p is the tangent axis and can be specified as any axis except the imaginary axes M and N.
USAGE: DEFAULTS:
While Moving
No
Default Value
A,B
In a Program
Yes
Default Format
8.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_VMn contains instantaneous commanded vector velocity for the specified coordinate system, S
or T.
RELATED COMMANDS:
Vector Position
Circle
End Vector Sequence
CS
Clear Sequence
Vector smoothing constant -- S-curve
Trippoint for Vector distance
EXAMPLES:
#A
;
'Program Label
VM
AB
;
'Vector move in AB
VP
1000,2000
;
'Linear segment
VE
;
'End sequence
BG
S
;
'Begin motion
AM
S
;
'Wait for vector motion to complete
EN
;
'End program
Summary of Contents for DMC-40x0 Series
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