Galil DMC-4040, User Manual

Page: 39 / 284

EN End of Program
To start the program, command
XQ #A Execute Program #A
This program moves A to an initial position of 1000 and returns it to zero on increments of half the distance. Note,
_TPA is an internal variable which returns the value of the A position. Internal variables may be created by
preceding a DMC-40x0 instruction with an underscore, _.
Example 15 - Linear Interpolation
Objective: Move A,B,C motors distance of 7000,3000,6000, respectively, along linear trajectory. Namely, motors
start and stop together.
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
Example 16 - Circular Interpolation
Objective: Move the AB axes in circular mode to form the path shown on Fig. 2-8. 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
DMC-40x0 User Manual Chapter 2 Getting Started
•
30