8 Application ExamplesDVP-PM Application Manual 8-38.1.2 Design Procedure1. Trajectory 1: Set up the absolute coordinates of the four points (-20, 20), (60, 20), (60, 100) and (-20, 100).Start from (0, 0).2. Trajectory 2: Set up the absolute coordinates of the four points (-10, 10), (20, 10), (20, 70) and (-10, 70). Startfrom (0, 0).3. Trajectory 3: Set up the absolute coordinates of the three points (-25, 25), (25, 25) and (0, 85). Start from (0,0).4. Trajectory 4: Set up the absolute coordinates of the seven points (10, 10), (10, 30), (10, 110), (10, 230), (10,210), (10, 130) and (10, 10). Start from (0, 0).5. Instruction List of Motion instructions or G-codesO100 main program:Design instructions for initializing current status of X/Y axis and enabling OX0 motion subroutineO100 O100 main programLD M1002DMOV K0 D1848 Set the current position of X axis to 0DMOV K0 D1928 Set the current position of Y axis to 0RST M1074 Disable OX motion subroutineMOV H8000 D1868 Write the No. (0) of OX to be enabledSET M1074 Enable OX motion subroutineM102OX0 subroutine: Call pointer P0 in subroutineOX0 OX motion subroutineBRET Return to bus lineCALL P0 Call P0 subroutineM2Example of motion instructions for trajectory 1P0 P0 subroutineABST Set-up absolute coordinateDRV X-20000 Y20000 Fast move to designated positionLIN X60000 Y20000 F20000Move to designated position by linearinterpolation. Can also be written asLIN X60000 F20000LIN X60000 Y100000 F20000Move to designated position by linearinterpolation. Can also be written asLIN Y100000LIN X-20000 Y100000 F20000Move to designated position by linearinterpolation. Can also be written asLIN X-20000LIN X-20000 Y20000 F20000Move to designated position by linearinterpolation. Can also be written asLIN Y20000SRET
