DMC-40x0 Command Reference CD • 61
CD
FUNCTION: Contour Data
DESCRIPTION:
The CD command specifies the incremental position on contour axes. The units of the command
are in encoder counts. This command is used only in the Contour Mode (CM). The
incremental position will be executed over the time period specified by the command DT
(ranging from 2 to 256 servo updates) or by the = operand.
ARGUMENTS: CD n,n,n,n,n,n,n,n = m or CDA=n where
n is an integer in the range of +/-32762.
m (optional) is an integer in the range 0 to 8.
n = m = 0 terminates the Contour Mode.
m = 1 through 8 specifies the time interval (DT) of 2
m
samples.
n = 0 and m = -1 pauses the contour buffer.
By default the sample period is 1 msec (set by the TM command); with m = 1, the time interval
would be 2 msec.
Note1: The command CD 0,0 . . .=0 would follow the last CD command in a sequence. CD 0,0 . . .=0 is
similar to VE and LE. Once executed by the controller, CD 0,0 . . .=0 will terminate the contour mode.
Note2: The command CD0=0 will assign a variable CD0 the value of 0. In this case the user must have a
space after CD in order to terminate the Contour Mode correctly. Example: CD 0=0 will terminate the
contour mode for the X axis.
USAGE: DEFAULTS:
While Moving Yes Default Value -
In a Program Yes Default Format -
Command Line Yes
Controller Usage
ALL CONTROLLERS
RELATED COMMANDS:
CM Contour Mode
DT Time Increment
EXAMPLES:
#Cont0 ;'Define label #Cont0
CM ABCD ;'Specify Contour Mode
DT 4 ;'Specify time increment for contour
CD 200,350,-150,500 ;'
pecify incremental positions on A,B,C and C axes
'A-axis moves 200 counts B-axis moves 350 counts C-
'axis moves -150 counts C-axis moves 500 counts
CD 100,200,300,400 ;'New position data
CD 0,0,0,0=0
#Wait;JP#Wait,_CM<>511
;'End of Contour Buffer/Sequence
;'Wait until path is done
EN ;'End program
#Cont1 ;'Define label #Cont1
CM ABC ;'Specify Contour Mode
DT 8 ;'Specify time increment for contour
CD 100,100,100 ;'New position data
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