Yaskawa LEGEND-MC - Manual (Page 286)

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LEGEND-MC User’s Manual
The Required Trajectory
Additional Commands
The command, WC, is used as a trippoint "When Complete" or “Wait for Contour Data”. This allows the
LEGEND-MC 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
General Velocity Profiles
The Contour Mode is ideal for generating an arbitrary velocity profile. The velocity profile can be
specified as a mathematical function or as a collection of points.
The design includes two parts: Generating an array with data points and running the program.
Command Description
CM X Specifies the X-axis for contouring mode. In a distributed control system, any
non-contouring axes may be operated in other modes.
CD x Specifies position increment over time interval. Range is +/-32,000. Zero ends
contour mode.
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 4 8 12 16 20 24 28
288
336
SEGMENT 1 SEGMENT 2 SEGMENT 3