LPOS                Linear interpolation segment

Syntax                        

LPOS1 Pos_X, Pos_Y, Pos_Z

3D Linear interpolation POS segment

LPOS2 Pos_X, Pos_Y, Pos_Z

LPOS1 Pos_X, Pos_Y

2D Linear interpolation POS segment

LPOS2 Pos_X, Pos_Y

 

OperandsPos_X: X axis position increment for 2D/3D trajectory

       Pos_Y: Y axis position increment for 2D/3D trajectory

       Pos_Z : Z axis position increment for 3D trajectory

PlaceTMLOnline

Binary code

LPOS

DescriptionLPOS1 and LPOS2 define a segment for 2D/3D trajectory executed in Linear Interpolation mode. Based on Pos_X, Pos_Y and Pos_Z the TML compiler from EasyMotion Studio computes the actual parameters used by the motion controller to generate the PVT points for slave axes.

If the points are sent from a host then the following relations must be used to compute the actual parameters of the segment:

LPOS_parameters

 

Example

// 2D linear interpolated profile. Position feedbacks: 500 lines

//incremental encoder

 SETMODE 0xCF00; //Clear buffer

 LPLANE (A, C);        //Slaves A and C define the coordinate system

 MODE LI; // Set Linear Interpolation Mode

 // Increment position with (X, Y) = (0.5[rot], 0.05[rot])

 LPOS1 1000L, 100L; LPOS2 1000L, 100L;

 UPD; //Execute immediate

 // Increment position with (X, Y) = (0.05[rot], 0.5[rot])

 LPOS1 100L, 1000L; LPOS2 100L, 1000L;

 // Increment position with (X, Y) = (0.5[rot], 0.1[rot])

 LPOS1 1000L, 200L; LPOS2 1000L, 200L;

 // Increment position with (X, Y) = (0.5[rot], 0.5[rot])

 LPOS1 1000L, 1000L; LPOS2 1000L, 1000L;