Yaskawa LEGEND-MC - Manual (Page 276)

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LEGEND-MC User’s Manual
the accelerations. For example, VR .5 results in the specification VS 2000 to be divided in half.
Command Summary - Linear Interpolation
To illustrate the ability to interrogate the motion status, consider the first motion segment of our example,
#LMOVE, where the X axis moves toward the point X=5000. Suppose that when X=3000, the controller
is interrogated using the command ‘MG _AV’. The returned value will be 3000. The value of _CS and
_VPX will be zero.
Command Description
LMX Specify axes for linear interpolation
LM? Returns number of available spaces for linear segments in LEGEND-MC
sequence buffer. Zero means buffer full. 511 means buffer empty.
LI x < n Specify incremental distances relative to current position, and assign vector
speed n.
VS n Specify vector speed
VA n Specify vector acceleration
VD n Specify vector deceleration
VR n Specify the vector speed ratio
BGS Begin Linear Sequence
CS Clear sequence
LE Linear End- Required at end of LI command sequence
LE? Returns the length of the vector (resets after 2147483647)
AMS Trippoint for After Sequence complete
AV n Trippoint for After Relative Vector distance, n
VT Motion smoothing constant for vector moves