Yaskawa LEGEND-MC - Manual (Page 163)

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LEGEND-MC User’s Manual
LM (Linear Mode)
[Setting]
DESCRIPTION:
The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation. LI
commands are used to specify the travel distances for linear interpolation. The LE command specifies the
end of the linear interpolation sequence. Several LI commands may be given as long as the controller
sequence buffer has room for additional segments. Once the LM command has been given, it does not need
to be given again unless the VM command has been used.
Only one axis can be used in interpolation mode. Axes connected in a distributed control system cannot be
coordinated over ethernet. The Linear mode feature is useful for specifying positions where the final end
target is not known at the time the move is begun.
ARGUMENTS: LM XYZW or ABCDEFGH
USAGE:
OPERAND USAGE:
_LMx contains the number of spaces available in the sequence buffer for the coordinate system.
RELATED COMMANDS:
EXAMPLES:
While Moving Yes Default Value ---
In a Program Yes Default Format ---
Command Line Yes
Used as an Operand Yes
Can be Interrogated Yes Distributed Control No, Local
"LE" Linear end
"LI" Linear Distance
"VA" Vector acceleration
"VS" Vector Speed
"VD" Vector deceleration
"CS" _CS - Sequence counter
LM XY Specify linear interpolation mode
VS 10000; VA 100000;VD 1000000 Specify vector speed, acceleration and deceleration
LI 100 Specify linear distance
LI 200 Specify linear distance
LE; BGS Last vector, then begin motion