Programming Commands U511 User’s Manual
5-96 Aerotech, Inc. Version 1.1
profiling only works with smooth curves. The UNIDEX 511 allows for profiling of
“corners” within the move. Consider the following three moves in G8 mode, G1 X10,
G1 X5 Y5, G1 X10. The following plot shows the plot of the two axis velocities.
The motion is completed with the surface speed staying constant.
Figure 5-18. Two Axis Linear Move With Velocity Profiling
The constant surface speed is 16 mm/sec. The speed of each individual axis during the
X5 Y5 move is determined by breaking the surface speed into its component vector
speeds. The equation relating the three velocities together is determine by the
Pythagorean Theorem:
s
vvv
222
=+
In this example, because the moves are the same distance, vx = vy = 11.3 mm/sec.
5.5.83.2. CM1 Contouring Mode
The contouring mode can be changed by executing the CM command. The normal mode
(CM0) blends moves together by combining deceleration of one move with the
acceleration of the next move. The alternate mode (CM1) does not. It requires that the last
move be preceded by a G9 (velocity profiling off) command if in G8 mode. The default
contouring mode can also be set by general parameters 31, 49, 67, and 85. The previous
profile examples assumed CM0 mode. In the following examples, CM1 is assumed. Also
shown are the program codes for the motion generating the profiles.
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