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VM
DMC-1000/1500 Command Reference
DMC-1000
DMC-1500
VM
FUNCTION:
Coordinated Motion Mode
DESCRIPTION:
The VM command specifies the coordinated motion mode and the plane of motion.
This mode may be specified for motion on any set of two axes.
The motion is specified by the instructions VP and CR, which specify linear and circular
segments. Up to 511 segments may be given before the Begin Sequence (BGS) command.
The Vector End (VE) command must be given after the last segment. This tells the controller to
decelerate to a stop during the last segment.
It is the responsibility of the user to keep enough motion segments in the buffer to ensure
continuous motion. VM ? returns the available spaces for motion segments that can be sent
to the buffer.
511 returns means that the buffer is empty and 511 segments may be sent. A zero means that the
buffer is full and no additional segments may be sent.
ARGUMENTS:
VM nmp
where
n and m specifies the plane of vector motion. The parameters can be any two axes of
X,Y,Z,W or A,B,C,D,E,F,G,H. The parameter, p, is the tangent axis X,Y,Z,W or
A,B,C,D,E,F,G,H. A value of N for the parameter, p, turns off tangent.
Vector Motion can be specified for one axis by specifying the parameter, m, as N. This allows
for sinusoidal motion on 1 axis..
USAGE: DEFAULTS:
While Moving
No
Default Value
X,Y
In a Program
Yes
Default Format
-
Command Line
Yes
Can be Interrogated
No
Used as an Operand
Yes
OPERAND USAGE:
_VM contains instantaneous commanded vector velocity.
RELATED COMMANDS:
VP Vector
Position
VS Vector
Speed
VA Vector
Acceleration
VD Vector
Deceleration
CR Circle
VE
End Vector Sequence
BG Begin
Sequence
CS Clear
Sequence
CS
_CS - Segment counter
VT
Vector smoothing constant -- S-curve
AV Vector
distance
