Filter
Top Products
98 • Chapter 6 Programming Motion DMC-1700/1800
To illustrate the ability to interrogate the motion status, consider the first motion segment of our example,
#LMOVE, where the X axis moves toward the point X=5000. Suppose that when X=3000, the controller is
interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS, _VPX and _VPY
will be zero.
Now suppose that the interrogation is repeated at the second segment when Y=2000. The value of _AV at this
point is 7000, _CS equals 1, _VPX=5000 and _VPY=0.
Example - Linear Move
Make a coordinated linear move in the ZW plane. Move to coordinates 40000,30000 counts at a vector speed of
100000 counts/sec and vector acceleration of 1000000 counts/sec
2
.
LM ZW Specify axes for linear interpolation
LI,,40000,30000 Specify ZW distances
LE Specify end move
VS 100000 Specify vector speed
VA 1000000 Specify vector acceleration
VD 1000000 Specify vector deceleration
BGS Begin sequence
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VZ and VW. The axis
speeds are determined by the controller from:
V
S
VZ VW=+
22
The result is shown in Figure 6.2