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-40x0 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 ▫ 82
DMC-40x0 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)