Galil DMC-13X8 user manual Cmx, DT0CD0

Consider, for example, the trajectory shown in Fig. 6.5. The position X may be described by the points:

Point 1	X=0 at T=0ms
Point 2	X=48 at T=4ms
Point 3	X=288 at T=12ms
Point 4	X=336 at T=28ms

The same trajectory may be represented by the increments

Increment 1	DX=48	Time=4	DT=2
Increment 2	DX=240	Time=8	DT=3
Increment 3	DX=48	Time=16	DT=4

When the controller receives the command to generate a trajectory along these points, it interpolates linearly between the points. The resulting interpolated points include the position 12 at 1 msec, position 24 at 2 msec, etc.

The programmed commands to specify the above example are:

#A
CMX	Specifies X axis for contour mode
DT 2	Specifies first time interval, 22 ms
CD 48;WC	Specifies first position increment
DT 3	Specifies second time interval, 23 ms
CD 240;WC	Specifies second position increment
DT 4	Specifies the third time interval, 24 ms
CD 48;WC	Specifies the third position increment
DT0;CD0	Exits contour mode
EN

POSITION
(COUNTS)
336
288
240
192
96
48							TIME (ms)
0	4	8	12	16	20	24	28
SEGMENT 1		SEGMENT 2			SEGMENT 3

Figure 6.5 - The Required Trajectory

Chapter 6 Programming Motion • 86 USER MANUAL