Creating a figure-eight using Coordinated Motion
The following program uses the Center and Endpoint method of defining a series of four arcs in order to create a figure-eight motion in a cartesian X-Y system. This program also uses Merge Motion to make a smooth seamless transition from one arc to another.
CODE
B100.1,L100.1 //Clear any existing program and logic banks
B100.2,L100.2
K85.1=1 //Run Logic Bank 1 on power up
R1.2=0,R1.1=0 //Radii not needed for this method
A1.1=50,A1.2=50 //Define accelerations and speeds
S1.1=30,S1.2=30
P1.1=0 //First position of first arc
P1.2=1600 //Because this Figure-Eight is drawn along the motor 2 axis, the motor 2 end position is always the same
P2.1=3200 //Arc End Position
P3.1=6400 //Arc End Position
N1.1=1600 //Center point of first figure eight
N1.2=1600 //Again, Because this is drawn along the motor 2 axis, the motor 2 center point is always the same
N2.1=4800 //Center point of other side of the figure-eight
l1.1
[1.1 //Run Program Bank 1
jl2 //Jump to Logic Bank 2
end.1
l2.1 //Empty Logic Bank so that we don't keep executing program bank 1
end.1
B1.1
|2.1,|2.2 //Home both axes
A1.2,A1.1 //call accelerations and speeds
S1.2,S1.1
X0.1 //Everything between the X0 and X- is looped indefinitely
N1.2,N1.1,@1.2,@2.1; //Create arc to first position
N1.2,N2.1,@1.2-,@3.1-;
N1.2,N2.1,@1.2-,@2.1-;
N1.2,N1.1,@1.2,@1.1;
X-
END.1
$.1 //Save Program