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Chapter 3 Operating Principles | PCI-DMC-A01 / PCI-DMC-B01
Revised March, 2012 3-127
Example 2: In this example, X and Y axes are used to make the tool move along
rounded corner and straight lines. The tool on the Z-axis is always at a
normal or tangent to the shape.
(The following explanation uses the C language and is executed using
a state machine. Please see Sample for details)
/* MotionStep1. Move the three axes to job start point */
_DMC_01_start_sa_move(CardNo, NodeID3[0], SlotID3[0], 0, 0, MaxVel, 0.1, 0.1);
_DMC_01_start_sa_move(CardNo, NodeID3[1], SlotID3[1], 0, 0, MaxVel, 0.1, 0.1);
_DMC_01_start_sa_move(CardNo, NodeID3[2], SlotID3[2], 0, 0, MaxVel, 0.1, 0.1);
/* MotionStep2. Wait for Motion Done and confirm that Step 1 was completed */
for(i=0;i<3;i++)
{
rt[i] = _DMC_01_get_command(CardNo, NodeID3[i], SlotID3[i], &Cmd[i]);
}
if((rt[0] + rt[1] + rt[2] == 0) && (Cmd[0] == 0) && (Cmd[1] == 0) && (Cmd[2] == 0))
{
MotionStep = 3;
}
/* MotionStep3. start 1st step of job (straight line) */
_DMC_01_start_ta_move_xy(CardNo, NodeID2, SlotID2, 30000, 0, MaxVel/2,
MaxVel, 0.1, 0.1);