Rudundant positions in countour buffer

[TulioB]

Hello,

Is there any side effects writting redudant positions to a countour buffer? What PCI 7344 contour mode does if I write to the buffer a XY sequence like (0,0), (10,10), (10,10), (10,15), (10,15)?

Thanks.

[s_a_s]

Telling the motor to move to the same point during a contour move effectively tells the motor to go to a zero velocity.  So for your example: 

1. Start to (10,10) in 10 ms
2. Stay at (10,10) for 10 ms
3. (10,10) to (10,15) 10 ms
4. Stay at (10,15) for 10 ms