Find Docs

Galil Motion Control - optcom (Page 133)

Wodocs >> Electronics : Motion Control >> Galil Motion Control optcom Page 133
Galil Motion Control - optcom
Optima DMC-1xxx and DMC-18x2 Command Reference
LI
i
122
LI
FUNCTION: Linear Interpolation Distance
DESCRIPTION:
The LI a,b,c,d 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. 511 returned
means the buffer is empty and 511 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 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. If the LI command specifies only A and B, the speed of C will still be
used in the vector calculations. The controller always uses the axis specifications from
LM, not LI, to compute the speed. The parameter n is optional and can be used to define
the vector speed that is attached to the motion segment.
The LI command will apply to the selected coordinate system, S or T. To select the
coordinate system, use the command CAS or CAT.
ARGUMENTS: LI n,n,n,n,n,n,n,n <o >p or
LIA=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. Based on vector
accel and decal rates, p is an unsigned even integer between 0 and 12,000,000 for servos,
and between 0 and 3,000,000 for steppers.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
-
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
"LE "
Linear end
"LM "
Linear Interpolation Mode
EXAMPLES:
LM ABC
Specify linear interpolation mode
LI 1000,2000,3000
Specify distance
LE Last
segment

<< Previous       1 .. 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140       Next >>



Other Documents:
MSDS JEECHEM SHAMPOO CONCENTRATE 1, msds ALOE VERA GEL DECOLORIZED 40 X, msds ALOE VERA OIL EXTRACT Mineral Oil Base, msds ANHYDROUS LANOLIN USP, msds CARROT OIL, msds COTTONSEED OIL, msds JEECHEM 100 CG POWDER, msds JEECHEM 1450, msds JEECHEM 186, msds JEECHEM BUBBLE BATH GSE, msds JEECHEM CA 40, msds JEECHEM CA 9, msds JEECHEM CASTOR OIL PP, msds JEECHEM CER, msds JEECHEM NP 12, msds JEECHEM NP 30, msds JEECHEM NP 6, msds JEECHEM SHAMPOO BWC, msds JEECHEM SHAMPOO COMBE BLEND, msds JEECHEM SHAMPOO CONCENTRATE 2, msds JEECHEM SHAMPOO CONCENTRATE 4, msds JEECHEM SHAMPOO CONCENTRATE 4 CL, msds JEECHEM SHAMPOO CONCENTRATE 5, msds JEECHEM SHAMPOO CONCENTRATE 5 CL, msds JEECHEM SHAMPOO CONCENTRATE 7 CL, msds JEECHEM SHAMPOO ST ARR, msds JEECHEM SML, msds JEECHEM SMS, msds JEECHEM STO, msds JEECHEM STS, msds JEECOL CA 20, msds JEELAN ALCOHOL SP, msds JEELAN ALCOHOL, msds JEELAN L 60, msds JEELATE ALES 2, msds JEELATE ALS 30, msds JEELATE DLS, msds JEEMATE 1000 DPS, msds JEEMATE 1000 ML, msds JEEMATE 200 ML, msds JEEMATE 300 DPS, msds JEEMATE 300 OC, msds JEEMATE 400 DO, msds JEEMATE 400 OC, msds JEEMIDE MEAA, msds JEEMIDE SS 100, msds JEEPHOS P 610, msds JEESILC 74, msds JEESILC CPS 312, msds JEESORB L 10,


WODocs | |
All rights reserved. wodocs.com© 2009
WODocs


New Docs

Documents Category:
Arts (Design, Movies, Music, Radio, Television)
Automotive (Cars, Marine, Motorcycle, ATV, Snowmobiles)
Business (Biotechnology and Pharmaceuticals, Chemicals, Construction and Maintenance, Materials, Real Estate, Services)
Electronics (Computers, Motion Control, Power Supply)
Games (Board, Family, Party, Card, Construction, RC Toys)
Health (Animalm, Beauty, Healthcare, Medicine, Pharmacy, Surgery, Weight Loss)
Home (Accessories, Cooking, Decor and Design, Electrical, Family, Pets)
News (Newspapers, Sports, Television)
Recreation (Collecting, Hiking, Scouting, Survival, Travel)
Reference (Education, Libraries and Archives, Museums)
Science (Agriculture, Astronomy, Biology, Chemistry)
Shopping (Antiques and Collectibles, Clothing, Flowers, Food, Home and Garden)
Sports (Bicycle, Snowboard, Skiing, Other)