LI 1000,1000 < 4000
>1000
Specify second linear segment with a vector speed of 4000 and end speed
1000
LI 0,5000 < 4000
>1000
Specify third linear segment with a vector speed of 4000 and end speed 1000
LE End linear segments
BGS Begin motion sequence
EN Program end
Changing Feed Rate:
The command VR n allows the feed rate, VS, to be scaled between 0 and 10 with a resolution of .0001. This
command takes effect immediately and causes VS to be scaled. VR also applies when the vector speed is specified
with the ‘<’ operator. This is a useful feature for feed rate override. VR does not ratio the accelerations. For
example, VR .5 results in the specification VS 2000 to be divided in half.
Command Summary - Linear Interpolation
COMMAND DESCRIPTION
LM xyzw
LM abcdefgh
Specify axes for linear interpolation
(same) controllers with 5 or more axes
LM? Returns number of available spaces for linear segments in DMC-40x0 sequence buffer.
Zero means buffer full. 511 means buffer empty.
LI x,y,z,w < n
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 Trippoint for After Sequence complete
AV n Trippoint for After Relative Vector distance, n
IT S curve smoothing constant for vector moves
Operand Summary - Linear Interpolation
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-40x0 sequence buffer.
Zero means buffer full. 511 means buffer empty.
_VPm Return the absolute coordinate of the last data point along the trajectory.
(m=X,Y,Z or W or A,B,C,D,E,F,G or H)
DMC-40x0 User Manual Chapter 6 Programming Motion • 88
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