Yaskawa LEGEND-MC - Manual (Page 160)

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LEGEND-MC User’s Manual
LI (Linear Interpolation)
[Motion]
DESCRIPTION:
The LI command specifies the incremental distance of travel for Linear Interpolation (LM) mode. LI
parameter are relative distances given with respect to the current axis positions. Up to 511 LI specifications
may be given ahead of the Begin Sequence (BGS) command. Additional LI commands may be sent during
motion when the controller sequence buffer frees additional spaces for new vector segments. The Linear
End (LE) command must be given after the last LI specification in a sequence, it causes deceleration to a
stop at the last LI command. It is the responsibility of the user to keep enough LI segments in the controller
sequence buffer to ensure continuous motion.
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. The parameters o and p are optional and can be used to define the vector speed that is attached
to the motion segment.
Linear Interpolation is useful for making contoured or continuous move profiles.
NOTE: Linear mode can NOT be used on multiple axes controlled via ethernet.
ARGUMENTS: LI n, n p or LIX=n where
USAGE:
RELATED COMMANDS:
Argument Min Max Note Example Meaning
n -8388607 8388607 The incremental move
distance. LI 500 500 encoder count move on the
X axis.
o 0 12000000 Vector speed to be taken into
effect at the execution of this
segment. LI 500 <40000 500 encoder count move on the
X axis. Change to a vector speed
of 40000 counts per second.
p 0 12000000 Vector speed to be taken into
effect at the end of this
segment. LI 500 >40000 500 encoder count move on the
X axis. Change to a vector speed
of 40000 counts per second at
the end of the segment.
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes Distributed Control No, Local
"LE" Linear End
"BGS" BGS - Begin Sequence
"LM" Linear Interpolation Mode
"CS" Clear Sequence
"VS" Vector Speed
"VA" Vector Acceleration
"VD" Vector Deceleration