MODE VM                Set vector mode

Syntax                        

MODE VM

MODE Vector Mode

 

Operands–

PlaceTMLOnline

Binary code

MODEVM

DescriptionSets the motion controller to operate in vector mode. In this mode the motion controller generates a 2D trajectory using circular and 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

 VPLANE (A, B, C);

 MODE VM; // Set Vector Mode

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

 VSEG1 200L, 200L; VSEG2 200L, 200L;

 UPD; //Execute immediate

 // Circular segment of radius 3.14159[mm], with initial angle 20[deg]

 // and angle increment 50[deg])

 CIRCLE1 1L, 50.; CIRCLE2 1L, 20.;

 // Increment position with (X, Y) = (0.5[rot], 1[rot])

 VSEG1 1000L, 2000L; VSEG2 1000L, 2000L;

 // Circular segment of radius 6.28319[mm], with initial angle 10[deg]

 // and angle increment 90[deg])

 CIRCLE1 2L, 90.; CIRCLE2 2L, 10.;

 // Insert End Segment

 VSEG1 0L, 0L; VSEG2 0L, 0L;

 WMC (A, B, C); // wait for motion completion