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Additional Commands
gives the amount of space available in the contour buffer (511 maximum). Zero parameters for
_CM
zero parameters for
CD
If no new data is found and the controller is still in the contour mode, the controller waits for new data. No new
motion commands are generated while waiting. If bad data is received, the controller responds with a ?.
Specifying a -1 for the
Issuing the
command will clear the contour buffer.
CM
Command Summary - Contour Mode
COMMAND
General Velocity Profiles
The Contour Mode is ideal for generating any arbitrary velocity profiles. The velocity profile can be specified as a
mathematical function or as a collection of points. Contour mode can then be used by generating an array with
data points or running a program.
Generating an Array - An Example
Consider the velocity and position profiles shown in Figure 6.16. The objective is to rotate a motor a distance of
6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration. If the position
displacement can be described in terms of A counts in B milliseconds, than the motion can be described in the
following manner:
NOTE: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.
In the given example, A=6000 and B=120, the position and velocity profiles are:
X = 50T - (6000/2π) sin (2π T/120)
Note that the velocity, ω, in count/ms, is
ω = 50 [1 - cos 2π T/120]
Chapter 6 Programming Motion ▫ 64
will exit the contour mode.
or as the time interval in the
DT
CM
Specifies which axes to run in Contour Mode
Specifies position increment over time interval
CD
DT
Specifies time interval
_CM
Amount of space left in contour buffer, 511 maximum
Table 6.12: List of commands related to Contour Mode
1
cos(
2
)
Figure 6.16: Velocity Profile with Sinusoidal Acceleration
command will pause the contour buffer.
CD
DESCRIPTION
AT
A
sin(
2
B
2
followed by
DT
B
)
DMC-21x5 User Manual 1.0a1
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