Additional Commands - Galil Motion Control CDS-3310 User Manual

The same trajectory may be represented by the increments
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.
The programmed commands to specify the above example are:
336
288
240
192
96
48
Figure 6.6 - The Required Trajectory

Additional Commands

The command, WC, is used as a trippoint "Wait for Contour". This allows the CDS-3310 to use the
next increment only when it is finished with the previous one. Zero parameters for DT followed by
zero parameters for CD exit the contour mode.
CDS-3310
Point 2 A=48 at T=4ms
Point 3 A=288 at T=12ms
Point 4 A=336 at T=28ms
Increment 1 DA=48
Increment 2 DA=240
Increment 3 DA=48
Instruction
#A
CMA
DT 2
CD 48;WC
DT 3
CD 240;WC
DT 4
CD 48;WC
DT0;CD0
EN
POSITION
(COUNTS)
0
4 8
SEGMENT 1 SEGMENT 2
Time=4
Time=8
Time=16
Interpretation
Label
Specifies A axis for contour mode
Specifies first time interval, 2
Specifies first position increment
Specifies second time interval, 2
Specifies second position increment
Specifies the third time interval, 2
Specifies the third position increment
Exits contour mode
12 20
16
SEGMENT 3
Chapter 6 Programming Motion
DT=2
DT=3
DT=4
2
ms
3
ms
4
ms
TIME (ms)
28
24
i
5