Manual

Detailed Descriptions of ACL Commands 3-69
The value of <mode> defaults to zero at power up and at IN, or if <mode> is omitted from
the VM command. This default means that the SR step rate is used, and the MD, AB, and
MN commands are not suppressed.
The parameters established by SR, PD, MD, MM, AB, and MN are not actually changed by
the VM command; they are merely temporarily ignored. If an SR, PD, MD, MM, AB, or
MN occurs while the corresponding VM bit is set, the SR, PD, MD, MM, AB, or MN is
"remembered" and will take effect when the bit is cleared.
Example: VM 7; MA 5000, 6000; VM 0; causes one vector to be performed at alternate
acceleration and speed with no pre- or mid- move Digital Outputs changes or antibacklash
vectors. Subsequent moves are at normal speed with whatever Digital Outputs changes and
antibacklash vectors were previously in effect.
VR <x1>, <y1>, <x2>, <y2>, <angle>, <varid> Vector Rotate
This command computes the endpoint of a vector after it has been trigonometrically rotated
about a specified starting point. <x1> and <y1> specify the starting point; they can range
from -32768.0000 through 32767.9999. <x2> and <y2> are the endpoint of the vector
before rotation, and have the same allowable range. <angle> is the number of degrees
through which the vector is to be rotated. Positive angles result in counterclockwise
rotation. <angle> may range from -32768.0000 through 32767.9999; rotations less than
zero or greater than 360 degrees are increased or reduced modulo 360 to the corresponding
angle in the range 0 through 359.9999 degrees.
The X coordinate of the rotated vector is put into the variable given by <varid>, and the Y
coordinate into the following variable. If the rotation would produce an endpoint coordinate
outside the range -32768.0000 through 32767.9999, the VR command returns the highest or
lowest value within that range.
For more information about ACL variables, please see Chapter 10.
VS <varid> [, <value> ] Variable Set
This command places a new value into the variable whose i.d. is given by <varid>. The
<value> parameter is optional. If specified, it can be a numeric constant such as 123.45 or it
can be the value of another variable, such as @22. The resulting numeric value is placed
directly into the variable.
If <value> is omitted the VS command waits for a numeric value to be received on the
RS-232C port; this value is placed into the specified variable. Leading non-numeric
characters are ignored and the number is terminated by any non-numeric character. (This is
different from other ACL commands in that a control character such as Carriage Return or
Linefeed terminates the VS number, whereas the Automove System normally ignores
control characters.) Otherwise, the number should have the same syntax as any ACL
command parameter; see Chapter 1.