Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 6 Programming Motion
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5
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=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:
Instruction Interpretation
#A Label
CMA
Specifies A axis for contour mode
DT 2 Specifies first time interval, 2
2
ms
CD 48;WC Specifies first position increment
DT 3 Specifies second time interval, 2
3
ms
CD 240;WC Specifies second position increment
DT 4 Specifies the third time interval, 2
4
ms
CD 48;WC Specifies the third position increment
DT0;CD0 Exits contour mode
EN
POSITION
(COUNTS)
240
96
48
192
TIME (ms)
0
4 8
12
16
20 24
28
288
336
SEGMENT 1 SEGMENT 2 SEGMENT 3
Figure 6.6 - The Required Trajectory
Additional Commands
The command, WC, is used as a trippoint "Wait for Contour". This allows the CDS-3310 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.