Yaskawa LEGEND-MC - Manual (Page 277)

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LEGEND-MC User’s Manual
Vector Mode: Linear Interpolation Motion
Specifying Vector Segments
The motion segment is described by the command; VP for linear segments. Once a set of linear segments
have been specified, the sequence is ended with the command VE. This defines a sequence of commands
for coordinated motion. Immediately prior to the execution of the first coordinated movement, the
controller defines the current position to be zero for all movements in a sequence.
NOTE: This ‘internal’ definition of zero does not affect the absolute coordinate system or subsequent coor-
dinated motion sequences.
The command, VP x specifies the coordinates of the end points of the vector movement with respect to
the starting point.
Up to 511 VP segments may be specified in a single sequence and must be ended with the command VE.
The motion can be initiated with a Begin Sequence (BGS) command. Once motion starts, additional
segments may be added.
The Clear Sequence (CS) command can be used to remove previous VP commands which were stored in
the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops
motion at the specified deceleration. AB1 aborts the motion instantaneously.
The Vector End (VE) command must be used to specify the end of the coordinated motion. This
command tells the controller to decelerate to a stop following the last motion in the sequence. If a VE
command is not given, an Abort (AB1) must be used to abort the coordinated motion sequence.
The user must keep enough motion segments in the LEGEND-MC sequence buffer to ensure continuous
motion. If the controller receives no additional motion segments and no VE 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 motion segments that can be sent to the buffer. 511 returned means the buffer is
empty and 511 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 segments can be sent at the PCI bus speed.
The operand _CS can be used to determine the value of the segment counter.
Additional Commands
The commands VS n, VA n and VD n are used for specifying the vector speed, acceleration, and
deceleration. VT is the motion smoothing constant used for coordinated motion.