Galil Motion Control DMC-18 2 Series User Manual page 104

#B
C=0
#C
D=C+1
DIF[C]=POS[D]-POS[C]
C=C+1
JP #C,C<15
EN
#RUN
CMX
DT3
C=0
#E
CD DIF[C]
WC
C=C+1
JP #E,C<15
DT0
CD0
EN
Teach (Record and Play-Back)
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished
using the DMC-18x2 automatic array capture feature to capture position data. The captured data may
then be played back in the contour mode. The following array commands are used:
DM C[n]
RA C[]
RD _TPX
RC n,m
RC? or _RC
Record and Playback Example:
#RECORD
DM XPOS[501]
RA XPOS[]
RD _TPX
MOX
RC2
#A;JP#A,_RC=1
#COMPUTE
DM DX[500]
DMC-18x2
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Program to find position differences
Compute the difference and store
End first program
Program to run motor
Contour Mode
4 millisecond intervals
Contour Distance is in DIF
Wait for completion
Stop Contour
End the program
Dimension array
Specify array for automatic record (up to 4)
Specify data for capturing (such as _TPX or _TPZ)
Specify capture time interval where n is 2n msec, m is number of records to be
captured
Returns a 1 if recording
Begin Program
Dimension array with 501 elements
Specify automatic record
Specify X position to be captured
Turn X motor off
Begin recording; 4 msec interval
Continue until done recording
Compute DX
Dimension Array for DX
Chapter 6 Programming Motion • 93