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, 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
96
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Chapter 6 Programming Motion
DMC-1600