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126 ● LI DMC-1400 Series Command Reference
LI
FUNCTION: Linear Interpolation Distance
DESCRIPTION:
The LI x,y command specifies the incremental distance of travel for each axis in the Linear
Interpolation (LM) mode. LI parameters 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.
This command tells the controller to decelerate to a stop at the last LI command. It is the
responsibility of the user to keep enough LI segments in the controller's sequence buffer
to ensure continuous motion.
LM ? Returns the available spaces for LI segments that can be sent to the buffer. 255 returned
means the buffer is empty and 255 LI segments can be sent. A zero means the buffer is
full and no additional segments can be sent. It should be noted that the controller
computes the vector speed based on the axes specified in the LM mode. For example,
LM XY designates linear interpolation for the X and Y axes. The speed of these axes
will be computed from VS
2
=XS
2
+YS
2
where XS and YS are the speed of the X and Y
axes. The controller always uses the axis specifications from LM, not LI, to compute the
speed. The parameters o and p are optional and can be used to define the vector speed
that is attached to the motion segment.
ARGUMENTS: LI n,n <o >p or LIX=n where
n is a signed integer in the range -8,388,607 to 8,388,607 and represents the incremental move
distance (at least one n must be non-zero)
o specifies a vector speed to be taken into effect at the execution of the linear segment. o is an
unsigned even integer between 0 and 12,000,000 for servo motor operation and between
0 and 3,000,000 for stepper motors.
p specifies a vector speed to be achieved at the end of the linear segment. p is an unsigned
even integer between 0 and 12,000,000.
USAGE:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage
ALL
RELATED COMMANDS:
LE Linear end
BG BGS - Begin sequence
LM Linear Interpolation Mode
CS Clear Sequence
VS Vector Speed
VA Vector Acceleration
VD Vector Deceleration