Accell MPC-68K Series Manual do Utilizador descarregar pdf (Página 28)

Absolute coordinate movement

1) MOVL is the command for linear interpolation.

You can give variables or constants to define the parameters.

10 PG &H400

20 ACCEL 5000 /* acceleration/deceleration setting

30 FEED ALL_A 128 /* speed setting

40 CLRPOS

50 MOVL 5000 5000 VOID VOID

60 WAIT RR(ALL_A)==0

5000

2) Also, you can give a teaching point to the MOVE command parameter.

The teaching points are set by using the 'teaching mode' or by programming.

P(1)

10 PG &H400

20 ACCEL 5000

30 FEED ALL_A 128

40 CLRPOS

50 MOVL P(1)

60 WAIT RR(ALL_A)==0

70 MOVL P(2)

80 WAIT RR(ALL_A)==0

P(2)

3) The MOVS command is similar to the MOVL command but it doesn't have linear

interpolation.

You can set different acceleration (speed) on each axis.

10 PG &H400

20 ACCEL X_A 5000 /* X-axis acceleration/deceleration setting

30 ACCEL Y_A 10000 /* Y-axis acceleration/deceleration setting

40 FEED X_A 128 /* X-axis speed setting

50 FEED Y_A 0 /* Y-axis speed setting

60 CLRPOS

70 MOVS 5000 5000 VOID VOID

80 WAIT RR(ALL_A)==0

5000

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Accell MPC-68K Series Manual do Utilizador Página 28