Galil Motion Control DMC-18 2 Series User Manual page 103

ACCELERATION
VELOCITY
POSITION
Figure 6.6 - Velocity Profile with Sinusoidal Acceleration
The DMC-18x2 can compute trigonometric functions. However, the argument must be expressed in
degrees. Using our example, the equation for X is written as:
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
#POINTS
DM POS[16]
DM DIF[15]
C=0
T=0
#A
V1=50*T
V2=3*T
V3=-955*@SIN[V2]+V1
V4=@INT[V3]
POS[C]=V4
T=T+8
C=C+1
JP #A,C<16
92 ● Chapter 6 Programming Motion
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Interpretation
Program defines X points
Allocate memory
Set initial conditions, C is index
T is time in ms
Argument in degrees
Compute position
Integer value of V3
Store in array POS
DMC-18x2