Yaskawa LEGEND-MC - Manual (Page 285)

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LEGEND-MC User’s Manual
Contour Mode
The LEGEND-MC also provides a contouring mode. This mode allows any arbitrary position curve to be
prescribed for any motion axes. This is ideal for following computer generated paths such as parabolic,
spherical or user-defined profiles. The path is not limited to straight line and arc segments and the path
length may be infinite.
Specifying Contour Segments
The Contour Mode is specified with the command, CM, i.e.; CMX specifies contouring on the X axis.
A contour is described by position increments which are described with the command, CD x over a time
interval, DT n. The parameter, n, specifies the time interval. The time interval is defined as 2
n
ms, where
n is a number between 1 and 8. The controller performs linear interpolation between the specified
increments, where one point is generated for each millisecond.
Consider, for example, the illustration labelled The Required Trajectory on the following page. The position
X may be described by the points:
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:
Point 1 X=0 at T=0ms
Point 2 X=48 at T=4ms
Point 3 X=288 at T=12ms
Point 4 X=336 at T=28ms
Increment 1 DX=48 Time Increment =4 DT=2
Increment 2 DX=240 Time Increment =8 DT=3
Increment 3 DX=48 Time Increment =16 DT=4
Instruction Description
#A Label
CMX Specifies X axis for contour mode
DT 2
Specifies first time interval, 2
2
ms
CD 48;WC Specifies first position increment
DT 3
Specifies second time interval, 2
3
ms
CD 240;WC Specifies second position increment
DT 4
Specifies the third time interval, 2
4
ms
CD 48;WC Specifies the third position increment
DT0;CD0 Exits contour mode
EN