Galil DMC-2X00 - Manual (Page 91)

Linear Interpolation Mode
The DMC-2x00 provides a linear interpolation mode for 2 or more axes. In linear interpolation mode,
motion between the axes is coordinated to maintain the prescribed vector speed, acceleration, and
deceleration along the specified path. The motion path is described in terms of incremental distances
for each axis. An unlimited number of incremental segments may be given in a continuous move
sequence, making the linear interpolation mode ideal for following a piece-wise linear path. There is
no limit to the total move length.
The LM command selects the Linear Interpolation mode and axes for interpolation. For example, LM
BC selects only the B and C axes for linear interpolation.
When using the linear interpolation mode, the LM command only needs to be specified once unless the
axes for linear interpolation change.
Specifying the Coordinate Plane
The DMC-2x00 allows for 2 separate sets of coordinate axes for linear interpolation mode or vector
mode. These two sets are identified by the letters S and T.
To specify vector commands the coordinate plane must first be identified. This is done by issuing the
command CAS to identify the S plane or CAT to identify the T plane. All vector commands will be
applied to the active coordinate system until changed with the CA command.
Specifying Linear Segments
The command LI a,b,c,d,e,f,g,h specifies the incremental move distance for each axis. This means
motion is prescribed with respect to the current axis position. Up to 511 incremental move segments
may be given prior to the Begin Sequence (BGS) command. Once motion has begun, additional LI
segments may be sent to the controller.
The clear sequence (CS) command can be used to remove LI segments stored in the buffer prior to the
start of the motion. To stop the motion, use the instructions STS or AB. The command, ST, causes a
decelerated stop. The command, AB, causes an instantaneous stop and aborts the program, and the
command AB1 aborts the motion only.
The Linear End (LE) command must be used to specify the end of a linear move sequence. This
command tells the controller to decelerate to a stop following the last LI command. If an LE command
is not given, an Abort AB1 must be used to abort the motion sequence.
It is the responsibility of the user to keep enough LI segments in the DMC-2x00 sequence buffer to
ensure continuous motion. If the controller receives no additional LI segments and no LE command,
the controller will stop motion instantly at the last vector. There will be no controlled deceleration.
LM? or _LM returns the available spaces for LI segments that can be sent to the buffer. 511 returned
means the buffer is empty and 511 LI segments can be sent. A zero means the buffer is full and no
additional segments can be sent. As long as the buffer is not full, additional LI segments can be sent at
PC bus speeds.
The instruction _CS returns the segment counter. As the segments are processed, _CS increases,
starting at zero. This function allows the host computer to determine which segment is being
processed.
DMC-2X00 Chapter 6 Programming Motion y 81