Galil Motion Control DMC-4123 - Command Summary - Contour Mode

Point 3 X=288 at T=12ms
Point 4 X=336 at T=28ms
The same trajectory may be represented by the increments
Increment 1 DX=48 Time=4 DT=2
Increment 2 DX=240 Time=8 DT=3
Increment 3 DX=48 Time=16 DT=4
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:
#A
CMX
Specifies X axis for contour mode
CD 48=2
Specifies first position increment and time interval, 2
2
ms
CD 240=3
Specifies second position increment and time interval, 2
3
ms
CD 48=4
Specifies the third position increment and time interval, 2
4
ms
CD 0=0
End Contour buffer
#Wait;JP#Wait,_CM<>511
Wait until path is done
EN
Figure 6.18: The Required Trajectory
Additional Commands
_CM gives the amount of space available in the contour buffer (511 maximum). Zero parameters for DT followed
by zero parameters for CD will exit the contour mode.
If no new data record 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 DT or as the time interval in the CD command will pause the contour buffer.
Issuing the CM command will clear the contour buffer.
Command Summary - Contour Mode
COMMAND DESCRIPTION
CM XYZW
Specifies which axes for contouring mode. Any non-contouring axes may be operated in
other modes.
CM ABCDEFGH
Contour axes for DMC-4183
CD x,y,z,w
Specifies position increment over time interval. Range is ±32,000. CD 0,0,0.. .=0 ends the
contour buffer. This is much like the LE or VE commands.
CD a,b,c,d,e,f,g,h
Position increment data for DMC-4183
DT n
Specifies time interval 2
n
sample periods (1 ms for TM1000) for position increment, where n is
an integer between 1 and 8. Zero ends contour mode. If n does not change, it does not need
to be specified with each CD.
_CM
Amount of space left in contour buffer (511 maximum)
Chapter 6 Programming Motion ▫ 86 DMC-41x3 User Manual
POSITION
(COUNTS)
240
96
48
192
TIME (ms)
0
4 8
12
16
20 24
28
288
336
SEGMENT 1 SEGMENT 2 SEGMENT 3