Galil DMC-2010, User Manual

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Instruction Interpretation
LM ABC Specify linear interpolation axes
LI 7000,3000,6000 Relative distances for linear interpolation
LE Linear End
VS 6000 Vector speed
VA 20000 Vector acceleration
VD 20000 Vector deceleration
BGS Start motion
Circular Interpolation
Objective: Move the AB axes in circular mode to form the path shown on Fig. 2-7. Note that the
vector motion starts at a local position (0,0) which is defined at the beginning of any vector motion
sequence. See application programming for further information.
Instruction Interpretation
VM AB Select AB axes for circular interpolation
VP -4000,0 Linear segment
CR 2000,270,-180 Circular segment
VP 0,4000 Linear segment
CR 2000,90,-180 Circular segment
VS 1000 Vector speed
VA 50000 Vector acceleration
VD 50000 Vector deceleration
VE End vector sequence
BGS Start motion
(0,0) local zero
(0,4000) (-4000,4000)
(-4000,0)
A
B
R=2000
Figure 2-7 Motion Path for Circular Interpolation Example
DMC-2X00 Chapter 2 Getting Started
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