Filter
Top Products
76 • Chapter 6 Programming Motion DMC-3425
Example
Linear Interpolation Motion
In this example, the AB system is required to perform a 90° turn. In order to slow the speed around
the corner, we use the AV 4000 trippoint, which slows the speed to 1000 count/s. Once the motors
reach the corner, the speed is increased back to 4000 cts / s.
Instruction
Interpretation
#LMOVE Label
DP 0,0 Define position of A and B axes to be 0
LMAB Define linear mode between A and B axes.
LI 5000,0 Specify first linear segment
LI 0,5000 Specify second linear segment
LE End linear segments
VS 4000 Specify vector speed
BGS Begin motion sequence
AV 4000 Set trippoint to wait until vector distance of 4000 is reached
VS 1000 Change vector speed
AV 5000 Set trippoint to wait until vector distance of 5000 is reached
VS 4000 Change vector speed
EN Program end
Example - Linear Move
Make a coordinated linear move in the AB plane. Move to coordinates 40000,30000 counts at a vector
speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec
2
.
Instruction Interpretation
LM AB Specify axes for linear interpolation
LI40000,30000 Specify AB 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 VA and VB
the axis speeds are determined by the DMC-3425 from:
V
S
VA
VB
=
+
2
2
The resulting profile is shown in Figure 6.2.