64 • Chapter 6 Programming Motion DMC-1500
Figure 6.4 - The Required Trajectory
Additional Commands
The command, WC, is used as a trippoint "When Complete". This allows the DMC-1500 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.
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 ?.
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-1580
CD x,y,z,w Specifies position increment over time interval. Range is +/-32,000. Zero ends contour
mode.
CD
a,b,c,d,e,f,g,h
Position increment data for DMC-1580
DT n Specifies time interval 2
n
msec 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.
WC Waits for previous time interval to be complete before next data record is processed.
POSITION
(COUNTS)
240
96
48
192
TIME (ms)
0
48
12
16
20 24
28
288
336
SEGMENT 1 SEGMENT 2 SEGMENT 3
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