X = 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 DIF. Finally the motors are run in the contour mode.
Contour Mode Example
INSTRUCTION
INTERPRETATION
#POINTS
Program defines X points
DM POS[16]
Allocate memory
DM DIF[15]
C=0
Set initial conditions, C is index
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
DIF[C]=POS[D]-POS[C]
Compute the difference and store
C=C+1
JP #C,C<15
#RUN
Program to run motor
CMX
Contour Mode
DT3
8 millisecond intervals
C=0
#E
CD DIF[C]
Contour Distance is in DIF
C=C+1
JP #E,C<15
CD 0=0
End contour buffer
#Wait;JP#Wait,_CM<>511
Wait until path is done
EN
End the program
Teach (Record and Play-Back)
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished using the
DMC-40x0 automatic array capture feature to capture position data. The captured data may then be played back in
the contour mode. The following array commands are used:
DM C[n]
Dimension array
RA C[]
Specify array for automatic record (up to 4 for DMC-4040)
RD _TPX
Specify data for capturing (such as _TPX or _TPZ)
RC n,m
Specify capture time interval where n is 2
n
sample periods (1 ms for TM1000), m is number
of records to be captured
RC? or _RC
Returns a 1 if recording
Chapter 6 Programming Motion ▫ 103
DMC-40x0 User Manual