ABB CPM810 Common Processor Module

Specifying Vector Segments The motion segments are described by two commands; VP for linear segments and CR for circular segments. Once a set of linear segments and/or circular segments have been specified, the sequence is ended with the command VE. This defines a sequence of commands for coordinated motion. Immediately prior to the execution of the first coordinated movement, the controller defines the current position to be zero for all movements in a sequence. Note: This ‘local’ definition of zero does not affect the absolute coordinate system or subsequent coordinated motion sequences.

The command, VP x,y specifies

 the coordinates of the end points of the vector movement with respect to the starting point. Non-sequential axes do not require comma delimitation. The command, CR r,θ,δ define a circular arc with a radius r, starting angle of θ, and a traversed angle δ. The notation for θ is that zero corresponds to the positive horizontal direction, and for both θ and δ, the counter-clockwise (CCW) rotation is positive. Up to 511 segments of CR or VP may be specified in a single sequence and must be ended with the command VE. The motion can be initiated with a Begin Sequence (BGS or BGT) command. Once motion starts, additional segments may be added. The Clear Sequence (CS) command can be used to remove previous VP and CR commands which were stored in the buffer prior to the start of the motion. To stop the motion, use the instructions STS or AB1. ST stops motion at the specified deceleration. AB1 aborts the motion instantaneously.

The Vector End (VE) command 

must be used to specify the end of the coordinated motion. This command tells the controller to decelerate to a stop following the last motion in the sequence. If a VE command is not given, an Abort (AB1) must be used to abort the coordinated motion sequence. The user must keep enough motion segments in the DMC-18x2 sequence buffer to ensure continuous motion. If the controller receives no additional motion segments and no VE command, the controller will stop motion instantly at the last vector. There will be no controlled deceleration. LM? or _LM returns the available spaces for motion segments that can be sent to the buffer. 511 returned means the buffer is empty and 511 segments can be sent. A zero means the buffer is full and no additional segments can be sent. As long as the buffer is not full, additional segments can be sent at the PCI bus speed. The operand _CS can be used to determine the value of the segment counter.

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