Contour Mode; Specifying Contour Segments - Galil Motion Control DMC-14 5 Series Manual

ET[7]=,120
ET[8]=,60
ET[9]=,20
ET[10]=,0
EB 1
JGX=4000
EG ,0
BGX
#LOOP;JP#LOOP,V1=0
EQ,2000
MF2000
ST X
EB 0
EN

Contour Mode

The DMC-14XX also provides a contouring mode. This mode allows any arbitrary position curve to
be prescribed for any motion axes. This is ideal for following computer generated paths such as
parabolic, spherical or user-defined profiles. The path is not limited to straight line and arc segments
and the path length may be infinite.

Specifying Contour Segments

The Contour Mode is specified with the command, CM. For example, CMXY specifies contouring on
the X and Y axes. Any axes that are not being used in the contouring mode may be operated in other
modes.
A contour is described by position increments which are described with the command, CD x,y over a
time interval, DT n. The parameter, n, specifies the time interval. The time interval is defined as 2
ms, where n is a number between 1 and 8. The controller performs linear interpolation between the
specified increments, where one point is generated for each millisecond.
Consider, for example, the trajectory shown in Fig. 6.5. The position X may be described by the
points:
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.
DMC-14x5/6
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8th point in the ECAM table
9th point in the ECAM table
10th point in the ECAM table
Starting point for next cycle
Enable ECAM mode
Set Z to jog at 4000
Engage both X and Y when Master = 0
Begin jog on Z axis
Loop until the variable is set
Disengage Y when Master = 2000
Wait until the Master goes to 2000
Stop the Z axis motion
Exit the ECAM mode
End of the program
X=0 at T=0ms
X=48 at T=4ms
X=288 at T=12ms
X=336 at T=28ms
DX=48 Time Increment =4
DX=240 Time Increment =8
DX=48 Time Increment =16
DT=2
DT=3
DT=4
Chapter 6 Programming Motion
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