Galil DMC-2010, User Manual

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Instruction Interpretation
#SETUP Label
EAA
Select A as master
EM 2000,1000 Cam cycles
EP 20,0 Master position increments
n = 0 Index
#LOOP Loop to construct table from equation
p = n
∗
3.6 Note 3.6 = 0.18
∗20
s = @SIN [P] *100 Define sine position
b = n *10+s Define slave position
ET [n] =, b Define table
n = n+1 Update Counter
JP #LOOP, n<=100 Repeat the process
EN End Program
Step 9.
Create program to
run
ECAM mode
Now suppose that the slave axis is engaged with a start signal, input 1, but that both the
engagement and disengagement points must be done at the center of the cycle: A = 1000 and
B = 500. This implies that B must be driven to that point to avoid a jump.
This is done with the program:
Instruction Interpretation
#RUN Label
EB1 Enable
cam
PA,500 starting position
SP,5000 B speed
BGB Move B motor
AM After B moved
AI1 Wait for start signal
EG,1000 Engage slave
AI - 1 Wait for stop signal
EQ,1000 Disengage slave
EN End
Command Summary - Electronic CAM
Command Description
EA p Specifies master axes for electronic cam where:
EB n Enables the ECAM
EC n ECAM counter - sets the index into the ECAM table
EG a,b,c,d Engages ECAM
EM a,b,c,d
Specifies the change in position for each axis of the CAM cycle
EP m,n Defines CAM table entry size and offset
EQ m,n Disengages ECAM at specified position
ET[n]
Defines the ECAM table entries
EW Widen segment (see Application Note #2444)
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Chapter 6 Programming Motion DMC-2X00