Lm (linear interpolation mode), Lm (linear, Interpolation mode) – Yaskawa SMC–4000 User Manual
Page 158: Setting
148
SMC–4000 User Manual
LM (Linear Interpolation Mode)
[Setting]
DESCRIPTION:
The LM command specifies the linear interpolation mode and specifies the axes for linear interpolation. Any
set of 1 thru 4 axes may be used for linear interpolation. LI commands are used to specify the travel distances
for linear interpolation. The
command specifies the end of the linear
interpolation sequence. Several
LI (Linear Interpolation Distance)
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
command has been used.
It should be noted that the controller computes the vector speed based on the axes specified in the LM mode.
For example, LM ABC designates linear interpolation for the A,B, and C axes. The speed of these axes will
be computed from VS
2
=AS
2
+BS
2
+CS
2
, where AS, BS and CS are the speed of the A, B, and C axes. In this
example, if the LI command specifies only A and B, the speed of C will still be used in the vector cal-
culations. The controller always uses the axis specifications from LM, not LI, to compute the speed.
The LM command will apply to the selected coordinate system, S or T. To select the coordinate system, use
the command CAS or CAT.
ARGUMENTS: LM nnnn
where
n is A,B,C,D or any combination to specify the axis or axes
USAGE:
OPERAND USAGE:
_LMn contains the number of spaces available in the sequence buffer for the “n” coordinate system, S or T.
RELATED COMMANDS:
LE (Linear Interpolation End)
LI (Linear Interpolation Distance)
VA (Vector Acceleration)
VS (Vector Speed)
VD (Vector Deceleration)
AV (After Vector Distance)
CS (Clear Sequence)
EXAMPLES:
While Moving
Yes
Default Value
---
In a Program
Yes
Default Format
---
Command Line
Yes
Virtual Axis
No
LM ABCD
Specify linear interpolation mode
VS 10000; VA 100000;VD 1000000
Specify vector speed, acceleration and deceleration
LI 100,200,300,400
Specify linear distance
LI 200,300,400,500
Specify linear distance
LE; BGS
Last vector, then begin motion