252 ● VM DMC-40x0 Command Reference
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 nmp 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 except the imaginary axes M and N.
USAGE: DEFAULTS:
While Moving No Default Value A,B
In a Program Yes Default Format 8.0
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
CR Circle
VE End Vector Sequence
CS Clear Sequence
IT Vector smoothing constant -- S-curve
AV Trippoint for Vector distance
EXAMPLES:
#A ;'Program Label
VM AB ;'Vector move in AB
VP 1000,2000 ;'Linear segment
VE ;'End sequence
BGS ;'Begin motion
AMS ;'Wait for vector motion to complete
EN ;'End program
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