Filter
Top Products
90 • Chapter 6 Programming Motion DMC-3425
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, 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
48
12
16
20 24
28
288
336
SEGMENT 1 SEGMENT 2 SEGMENT 3
Figure 6.5 - The Required Trajectory