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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
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished
using the DMC-1000 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
Instruction
#RECORD
DP0
DA*[ ]
DM XPOS [501]
RA XPOS [ ]
RD_TPX
MOX
RC2
#LOOP1;JP#LOOP1,_RC=1
#COMPUTE
DM DX [500]
I = 0
#LOOP2
70 • Chapter 6 Programming Motion
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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
Teach (Record and Play-Back)
Dimension array
Specify array for automatic record (up to 4 for DMC-1040; 8 for DMC-1080)
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
Record and Playback Example:
Interpretation
Begin Program
Define position for X axis to be 0
De-allocate all arrays
Dimension 501 element array called XPOS
Record Elements into XPOS array
Element to be recorded is encoder position of X axis
Motor off for X axis
Begin Recording with a sample rate of 2 msec
Loop until all elements have been recorded
Routine to determine the difference between consecutive points
Dimension a 500 element array to hold contour points
Set loop counter
Loop to calculate the difference
DMC-1000
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