Galil DMC-3425 user manual Instruction Description, Cma, DT0CD0

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

The same trajectory may be represented by the increments

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

Instruction	Description
#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 6.5 - The Required Trajectory

90 • Chapter 6 Programming Motion DMC-3425