Galil Motion Control DMC-42 0 Series, Руководство пользователя

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EC n ECAM counter - sets the index into the ECAM table
EG x,y,z,w Engages ECAM
EM x,y,z,w 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)
EY Set ECAM cycle count
Operand Summary - Electronic CAM
Command Description
_EB Contains State of ECAM
_EC Contains current ECAM index
_EGx Contains ECAM status for each axis
_EM Contains size of cycle for each axis
_EP Contains value of the ECAM table interval
_EQx Contains ECAM status for each axis
_EY Set ECAM cycle count
Example - Electronic CAM
The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.
INSTRUCTION INTERPRETATION
#A;V1=0 Label; Initialize variable
PA 0,0;BGXY;AMXY Go to position 0,0 on X and Y axes
EA Z Z axis as the Master for ECAM
EM 0,0,4000 Change for Z is 4000, zero for X, Y
EP400,0 ECAM interval is 400 counts with zero start
ET[0]=0,0 When master is at 0 position; 1 st point.
ET[1]=40,20 2
nd
point in the ECAM table
ET[2]=120,60 3 rd point in the ECAM table
ET[3]=240,120 4 th point in the ECAM table
ET[4]=280,140 5 th point in the ECAM table
ET[5]=280,140 6 th point in the ECAM table
ET[6]=280,140 7 th point in the ECAM table
ET[7]=240,120 8 th point in the ECAM table
ET[8]=120,60 9 th point in the ECAM table
ET[9]=40,20 10
th
point in the ECAM table
ET[10]=0,0 Starting point for next cycle
EB 1 Enable ECAM mode
JGZ=4000 Set Z to jog at 4000
EG 0,0 Engage both X and Y when Master = 0
BGZ Begin jog on Z axis
#LOOP;JP#LOOP,V1=0 Loop until the variable is set
EQ2000,2000 Disengage X and Y when Master = 2000
MF,, 2000 Wait until the Master goes to 2000
ST Z Stop the Z axis motion
EB 0 Exit the ECAM mode
EN End of the program
The above example shows how the ECAM program is structured and how the commands can be given to the
controller. Figure 6.14 shows the GalilTools scope capture of the ECAM profile. This shows how the motion will be
seen during the ECAM cycles. The first trace is for the A axis, the second trace shows the cycle on the B axis and
the third trace shows the cycle of the C axis.
Chapter 6 Programming Motion ▫ 80 DMC-42x0 User Manual