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Figure 6.5 - Velocity Profile with Sinusoidal Acceleration
The DMC-1000 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.
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
#B
C=0
#C
DMC-1000
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Contour Mode Example:
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
Program to find position differences
Chapter 6 Programming Motion • 69
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