Galil Motion Control DMC-18 2 Series User Manual page 97

If the value of any parameter is outside the range of one cycle, the cam engages immediately. When
the cam is engaged, the slave position is redefined, modulo one cycle.
Step 7. Disengage the slave motion
To disengage the cam, use the command
EQ x,y,z,w
where x,y,z,w are the master positions at which the corresponding slave axes are disengaged.
3000
2250
1500
0
Figure 6.4: Electronic Cam Example
This disengages the slave axis at a specified master position. If the parameter is outside the master
cycle, the stopping is instantaneous.
To illustrate the complete process, consider the cam relationship described by
the equation:
Y = 0.5 * X + 100 sin (0.18 * X)
where X is the master, with a cycle of 2000 counts.
The cam table can be constructed manually, point by point, or automatically by a program. The
following program includes the set-up.
The instruction EAX defines X as the master axis. The cycle of the master is
2000. Over that cycle, Y varies by 1000. This leads to the instruction EM 2000,1000.
86 ● Chapter 6 Programming Motion
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2000 4000 6000 Master X
DMC-18x2