Stepper Motor Operation - Galil Motion Control DMC-14 5 Series Manual

Teach (Record and Play-Back)
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished
using the DMC-14XX 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:
Instruction
#RECORD
DM XPOS[501]
RA XPOS[]
RD _TPX
MOX
RC2
#A;JP#A,_RC=1
#COMPUTE
DM DX[500]
C=0
#L
D=C+1
DELTA=XPOS[D]-XPOS[C] Compute the difference
DX[C]=DELTA
C=C+1
JP #L,C<500
#PLAYBCK
CMX
DT2
I=0
#B
CD XPOS[I];WC
DT 0;CD0
EN
For additional information about automatic array capture, see Chapter 7, Arrays.

Stepper Motor Operation

When configured for stepper motor operation, several commands are interpreted differently than from
servo mode. The following describes operation with stepper motors.
80 Chapter 6 Programming Motion
i
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Dimension array
Specify array for automatic record (up to 4)
Specify data for capturing (such as _TPX or _TPY)
Specify capture time interval where n is 2n msec, m is number of records to be
captured
Returns a 1 if recording
Interpretation
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
Initialize counter
Label
Store difference in array
Increment index
Repeat until done
Begin Playback
Specify contour mode
Specify time increment
Initialize array counter
Loop counter
Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until
done
End contour mode
End program
DMC-14x5/6