Galil Motion Control DMC-18 2 Series User Manual page 101

Point 1
Point 2
Point 3
Point 4
The same trajectory may be represented by the increments
Increment 1
Increment 2
Increment 3
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
DT 2
CD 48;WC
DT 3
CD 240;WC
DT 4
CD 48;WC
DT0;CD0
EN
336
288
240
192
96
48
Figure 6.5 - The Required Trajectory
90 ● Chapter 6 Programming Motion
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X=0 at T=0ms
X=48 at T=4ms
X=288 at T=12ms
X=336 at T=28ms
DX=48
DX=240
DX=48
Specifies X axis for contour mode
Specifies first time interval, 2
Specifies first position increment
Specifies second time interval, 2
Specifies second position increment
Specifies the third time interval, 2
Specifies the third position increment
Exits contour mode
POSITION
(COUNTS)
0
4 8
SEGMENT 1 SEGMENT 2
Time Increment =4
Time Increment =8
Time Increment =16
2
ms
3
ms
4
ms
12 20
16
SEGMENT 3
DT=2
DT=3
DT=4
TIME (ms)
28
24
DMC-18x2