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DMC-2X00 Chapter 6 Programming Motion y 39
DP 0,0 Define position of A and B axes to be 0
LMAB Define linear mode between A and B axes.
LI 5000,0 Specify first linear segment
LI 0,5000 Specify second linear segment
LE End linear segments
VS 4000 Specify vector speed
BGS Begin motion sequence
AV 4000 Set trip point to wait until vector distance of 4000 is reached
VS 1000 Change vector speed
AV 5000 Set trip point to wait until vector distance of 5000 is reached
VS 4000 Change vector speed
EN Program end
Linear Move
Make a coordinated linear move in the CD plane. Move to coordinates 40000, 30000 counts at a
vector speed of 100000 counts/sec and vector acceleration of 1000000 counts/sec
2
.
Instruction Interpretation
LM CD Specify axes for linear interpolation
LI,,40000,30000 Specify CD distances
LE Specify end move
VS 100000 Specify vector speed
VA 1000000 Specify vector acceleration
VD 1000000 Specify vector deceleration
BGS Begin sequence
Note that the above program specifies the vector speed, VS, and not the actual axis speeds VC and VD.
The axis speeds are determined by the DMC-2x00 from:
V
S
VC
VD
=
+
2
2
The resulting profile is shown in Figure 6.2.