Galil DMC-2X00 - Manual (Page 96)

Multiple Moves
This example makes a coordinated linear move in the AB plane. The Arrays VA and VB are used to
store 750 incremental distances which are filled by the program #LOAD.
Instruction Interpretation
#LOAD Load Program
DM VA [750],VB [750] Define Array
count=0 Initialize Counter
n=10 Initialize position increment
#LOOP LOOP
VA [count]=n
Fill Array VA
VB [count]=n Fill Array VB
n=n+10 Increment position
count = count +1 Increment counter
JP #LOOP, count <750 Loop if array not full
#A Label
LM AB
Specify linear mode for AB
count =0 Initialize array counter
#LOOP2;JP#LOOP2,_LM=0 If sequence buffer full, wait
JS#C, count =500 Begin motion on 500th segment
LI VA[count],VB[count] Specify linear segment
count = count +1 Increment array counter
JP #LOOP2, count <750 Repeat until array done
LE End Linear Move
AMS After Move sequence done
MG "DONE" Send Message
EN End program
#C;BGS;EN Begin Motion Subroutine
Vector Mode: Linear and Circular Interpolation Motion
The DMC-2x00 allows a long 2-D path consisting of linear and arc segments to be prescribed. Motion
along the path is continuous at the prescribed vector speed even at transitions between linear and
circular segments. The DMC-2x00 performs all the complex computations of linear and circular
interpolation, freeing the host PC from this time intensive task.
The coordinated motion mode is similar to the linear interpolation mode. Any pair of two axes may be
selected for coordinated motion consisting of linear and circular segments. In addition, a third axis can
be controlled such that it remains tangent to the motion of the selected pair of axes. Note that only one
pair of axes can be specified for coordinated motion at any given time.
The command VM m,n,p where ‘m’ and ‘n’ are the coordinated pair and p is the tangent axis.
NOTE: the commas which separate m,n and p are not necessary. For example, VM ABC selects the
AD axes for coordinated motion and the C-axis as the tangent.
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.
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• Chapter 6 Programming Motion
DMC-2X00