Galil Motion Control DMC-42 0 Series, User Manual

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The result is shown in Figure 6.6: Linear Interpolation.
Figure 6.6: Linear Interpolation
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=0 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
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 500 th 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-42x0 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion along the
path is continuous at the prescribed vector speed even at transitions between linear and circular segments. The
Chapter 6 Programming Motion ▫ 66 DMC-42x0 User Manual
POSITION Z
0
0 40000
FEEDRATE
0 0.1 0.5 0.6
4000 36000
30000
27000
3000
VELOCITY
Z-AXIS
VELOCITY
W-AXIS
POSITION W
TIME (sec)
TIME (sec)
TIME (sec)