Galil DMC-2X00 user manual 336 288 240 192 Time ms, Cma, DT0CD0

Increment 1	DA=48	Time=4	DT=2
Increment 2	DA=240	Time=8	DT=3
Increment 3	DA=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:

InstructionInterpretation

#A	Label
CMA	Specifies A 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 6.6 - The Required Trajectory

Additional Commands

The command, WC, is used as a trip point "When Complete". This allows the DMC-2x00 to use the next increment only when it is finished with the previous one. Zero parameters for DT followed by zero parameters for CD exit the contour mode.

If no new data record is found and the controller is still in the contour mode, the controller waits for new data. No new motion commands are generated while waiting. If bad data is received, the controller responds with a ?.

56 • Chapter 6 Programming Motion DMC-2X00