Galil Motion Control optcom Page 59
Optima DMC-1xxx and DMC-18x2 Command Reference
CD
i
48
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)
ARGUMENTS: CD n,n,n,n,n,n,n,n
or
CDA=n
where
n is an integer in the range of +/-32762.
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
"WC "
Wait for Contour
"DT "
Time Increment
"
CS
"
_CS is the Segment Counter
EXAMPLES:
CM ABCD
Specify Contour Mode
DT 4
Specify time increment for contour
CD 200,350,-150,500
Specify 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
WC
Wait for complete
CD 100,200,300,400
New position data
WC
Wait for complete
DT0 Stop
Contour
CD 0,0,0,0
Exit Mode
