Version: 1.0.0

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.


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
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