Galil DMC-1510, User Manual

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DMC-1500 Chapter 6 Programming Motion
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AV 4000 Set trippoint to wait until vector distance of 4000 is reached
VS 1000 Change vector speed
AV 5000 Set trippoint to wait until vector distance of 5000 is reached
VS 4000 Change vector speed
EN Program end
Specifying Vector Speed for Each Segment
The instruction VS has an immediate effect and, therefore, must be given at the required time. In some
applications, such as CNC, it is necessary to attach various speeds to different motion segments. This
can be done by the instruction
LI x,y,z,w < n
This instruction attaches the vector speed, n, to the motion segment LI. As a consequence, the
program #LMOVE can be written in the alternative form:
Instruction Interpretation
#ALT Label for alternative program
DP 0,0 Define Position of X and Y axis to be 0
LMXY Define linear mode between X and Y axes.
LI 4000,0 <4000 Specify first linear segment with a vector speed of 4000
LI 1000,0 < 1000 Specify second linear segment with a vector speed of 1000
LI 0,5000 < 4000 Specify third linear segment with a vector speed of 4000
LE End linear segments
BGS Begin motion sequence
EN Program end
Changing Feedrate:
The command VR n allows the feedrate, VS, to be scaled between 0 and 10 with a resolution of .0001.
This command takes effect immediately and causes VS to be scaled. VR also applies when the vector
speed is specified with the ‘<’ operator. This is a useful feature for feedrate override. VR does not
ratio the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.
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-1500 sequence buffer.
Zero means buffer full. 512 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