Galil DMC-2X00 用户手册

•  Chapter 6  Programming Motion 

COMMAND DESCRIPTION 

LM abcdefgh 

Specify axes for linear interpolation 

LM? 

Returns number of available spaces for linear segments in DMC-2x00 sequence 
buffer.  Zero means buffer full.  512 means buffer empty. 

LI a,b,c,d,e,f,g,h < 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 

Trip point for After Sequence complete 

AV n 

Trip point for After Relative Vector distance, n  

VT 

S curve smoothing constant for vector moves 

OPERAND DESCRIPTION 

_AV Return 

distance 

traveled 

_CS 

Segment counter - returns number of the segment in the sequence, starting at zero. 

_LE  

Returns length of vector (resets after 2147483647) 

_LM 

Returns number of available spaces for linear segments in DMC-2x00 sequence 
buffer.  Zero means buffer full.  512 means buffer empty. 

_VPm 

Return the absolute coordinate of the last data point along the trajectory.   
(m= A,B,C,D,E,F,G or H) 

To illustrate the ability to interrogate the motion status, consider the first motion segment of our 
example, #LMOVE, where the A axis moves toward the point A=5000.  Suppose that when A=3000, 
the controller is interrogated using the command ‘MG _AV’.  The returned value will be 3000.  The 
value of  _CS, _VPA and _VPB will be zero. 

Now suppose that the interrogation is repeated at the second segment when B=2000.  The value of  
_AV at this point is 7000, _CS equals 1, _VPA=5000 and _VPB=0. 

In this example, the AB system is required to perform a 90

°

 turn.  In order to slow the speed around 

the corner, we use the AV 4000 trip point, which slows the speed to 1000 count/s.  Once the motors 
reach the corner, the speed is increased back to 4000 cts / s. 

 

#LMOVE Label