Galil DMC-2X00 user manual Contour Mode, #Points

Figure 6.7 - Velocity Profile with Sinusoidal Acceleration

The DMC-2x00 can compute trigonometric functions. However, the argument must be expressed in degrees. Using our example, the equation for A is written as:

A = 50T - 955 sin 3T

A complete program to generate the contour movement in this example is given below. To generate an array, we compute the position value at intervals of 8 ms. This is stored at the array pos. Then, the difference between the positions is computed and is stored in the array dir. Finally the motors are run in the contour mode.

Contour Mode

Instruction	Interpretation
#POINTS	Program defines A points
DM pos[16]	Allocate memory
DM dir[15]
c=0;d=0	Set initial conditions, c is index
d=0
t=0	t is time in ms
#A
v1=50*t
v2=3*t	Argument in degrees
v3=-955*@SIN[v2]+v1	Compute position
v4=@INT[v3]	Integer value of v3
pos[c]=v4	Store in array pos
t=t+8
c=c+1
JP #A,c<16
#B	Program to find position differences
c=0
#c
d=c+1
dir[c]=pos[d]- pos[c]	Compute the difference and store
c=c+1
58 • Chapter 6 Programming Motion	DMC-2X00