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EN
The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.
Instruction
#A;V1=0
PA 0,0;BGXY;AMXY
EA Z
EM 0,0,4000
EP400,0
ET[0]=0,0
ET[1]=40,20
ET[2]=120,60
ET[3]=240,120
ET[4]=280,140
ET[5]=280,140
ET[6]=280,140
ET[7]=240,120
ET[8]=120,60
ET[9]=40,20
ET[10]=0,0
EB 1
JGZ=4000
EG 0,0
BGZ
#LOOP;JP#LOOP,V1=0
EQ2000,2000
MF,, 2000
ST Z
EB 0
EN
The above example shows how the ECAM program is structured and how the commands can be given
to the controller. The next page provides the results captured by the WSDK program. This shows
how the motion will be seen during the ECAM cycles. The first graph is for the X axis, the second
graph shows the cycle on the Y axis and the third graph shows the cycle of the Z axis.
DMC-1000
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End
Interpretation
Label; Initialize variable
Go to position 0,0 on X and Y axes
Z axis as the Master for ECAM
Change for Z is 4000, zero for X, Y
ECAM interval is 400 counts with zero start
When master is at 0 position; 1st point.
2nd point in the ECAM table
3rd point in the ECAM table
4th point in the ECAM table
5th point in the ECAM table
6th point in the ECAM table
7th point in the ECAM table
8th point in the ECAM table
9th point in the ECAM table
10th point in the ECAM table
Starting point for next cycle
Enable ECAM mode
Set Z to jog at 4000
Engage both X and Y when Master = 0
Begin jog on Z axis
Loop until the variable is set
Disengage X and Y when Master = 2000
Wait until the Master goes to 2000
Stop the Z axis motion
Exit the ECAM mode
End of the program
Chapter 6 Programming Motion • 65
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