Optima DMC-1xxx and DMC-18x2 Command Reference
VM
i
204
VM
FUNCTION: Coordinated Motion Mode
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 VP and CR, 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 Vector End (VE) 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 nm,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 2
nd
parameter, m, as N. Specifying one axis is useful
for obtaining sinusoidal motion on 1 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: DEFAULTS:
While Moving
No
Default Value
A,B
In a Program
Yes
Default Format
-
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_VMn contains instantaneous commanded vector velocity for the specified coordinate system,
S or T.
RELATED COMMANDS:
"VP "
Vector Position
"VE"
End Vector Sequence
"
CS
"
Clear Sequence
"VT "
Vector smoothing constant -- S-curve
"AV"
Trippoint for Vector distance
"
VS
" Vector
Speed
"
VA
" Vector
Acceleration
"
VD
"
Vector Deceleration
"
CR
" Circle
