Vm (coordinated motion mode), Coordinated motion mode), Motion – Yaskawa SMC–4000 User Manual
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SMC–4000 User Manual
VM (Coordinated Motion Mode)
[Motion]
DESCRIPTION:
The VM command specifies the coordinated motion mode and the plane of motion. This mode may be
specified for motion on any set of two axes.
The motion is specified by the instructions
and
, which specify linear and
circular segments. Up to 511 segments may be given before the Begin Sequence (BGS or BGT) command.
Additional segments may be given during the motion when the buffer frees additional spaces for new
segments. It is the responsibility of the user to keep enough motion segments in the buffer to ensure
continuous motion.
The
command must be given after the last segment. This allows the controller
to properly decelerate.
The VM command will apply to the selected coordinate system, S or T. To select the coordinate system,
use the command CAS or CAT.
ARGUMENTS: VM n,m,p where
n and m specify plane of vector motion and can be any two axes. Vector Motion can be specified for one
axis by specifying second parameter, m, as N. Specifying one axis is useful for obtaining sinusoidal motion
on one axis.
p is the tangent axis and can be specified as any axis. A value of N for the parameter, p, turns off tangent
function.
USAGE:
OPERAND USAGE:
_VMn contains instantaneous commanded vector velocity for the specified coordinate system, S or T.
RELATED COMMANDS:
While Moving
No
Minimum n Value
0.0001
In a Program
Yes
Maximum n Value
10
Command Line
Yes
Default Value
A,B
Default Format
-