MODE LI                Set linear interpolation mode

Syntax                        

MODE LI

MODE Linear Interpolation mode

 

Operands–

PlaceTMLOnline

Binary code

ModeLI

DescriptionSets the motion controller to operate in linear interpolation mode. In this mode the motion controller generates a 2D/3D trajectory based on linear segments. The motion mode is configured with SETMODE command.

The path segments can be stored in the non-volatile memory of the motion controller or received via a communication channel from a host.

Each segment is split in PVT points and sent to the slaves which, using 3rd order interpolation, rebuild the trajectory. The segments sequence must finish with the end segment. If the sequence doesn’t have an end segment then the motion controller enters in Quickstop mode and the stops the slaves.

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;