Table of Contents
Advertisement
PA 0;BGX;AMX
EA N
EM 4000,0
EP400,0
ET[0]=0
ET[1]=20
ET[2]=60
ET[3]=120
ET[4]=140
ET[5]=140
ET[6]=140
ET[7]=120
ET[8]=60
ET[9]=20
ET[10]=0
EB 1
JGN=4000
EG 0
BGX
#LOOP;JP#LOOP,V1=0
EQ,2000
MF2000
ST N
EB 0
EN
Contour Mode
The CDS-3310 also provides a contouring mode. This mode allows any arbitrary position curve to be
prescribed for 1 to 8 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, CMAC specifies contouring on
the A and C 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 a,b,c,d 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. 6.6. The position A may be described by the
points:
4 • Chapter 6 Programming Motion
Go to position 0,0 on X axis
N axis as the Master for ECAM
Change for N is 4000, zero for X
ECAM interval is 400 counts with zero start
When master is at 0 position; 1st point.
2nd point in the ECAM table
3rd point in the ECAM table
4th point in the ECAM table
5th point in the ECAM table
6th point in the ECAM table
7th point in the ECAM table
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 N to jog at 4000
Engage X when Master = 0
Begin jog on N axis
Loop until the variable is set
Disengage X when Master = 2000
Wait until the Master goes to 2000
Stop the N axis motion
Exit the ECAM mode
End of the program
Point 1
A=0 at T=0ms
n
CDS-3310
Advertisement
Table of Contents
