Galil Motion Control DMC-21 5 Series User Manual page 64

Step 2. Specify the master cycle and the change in the slave axis (or axes).
In the electronic cam mode, the position of the master is always expressed modulo one cycle. In this example, the
position of A is always expressed in the range between 0 and 6000. Similarly, the slave position is also redefined
such that it starts at zero and ends at 1500. At the end of a cycle when the master is 6000 and the slave is 1500,
the positions of both A and B are redefined as zero. The
slave cycle change.
The cycle of the master is limited to 8,388,607 whereas the slave change per cycle is limited to 2,147,483,647. If
the change is a negative number, the absolute value is specified. For the given example, the cycle of the master is
6000 counts and the change in the slave is 1500.
EM 6000,1500
Step 3. Specify the master interval and starting point.
Now, the ECAM table needs to be constructed. The table is specified at uniform intervals of master positions. Up to
256 intervals are allowed. The size of the master interval and the starting point are specified by the
For the given example, a table can be generated by specifying the position at the master points of 0, 2000, 4000
and 6000. The interval between each master point is 2000 counts.
EP 2000,0
Step 4. Specify the slave positions.
Next, the slave positions are specified with the
The table elements start at zero and may go up to 256. The parameters indicate the corresponding slave position.
ET[0]=,0
ET[1]=,3000
ET[2]=,2250
ET[3]=,1500
The ECAM table has now been completed.
Step 5. Enable the ECAM
The EB command enables the ECAM mode.
Step 6. Engage the slave motion
The EG command is used to engage the slave axes.
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
The command disengages the slave motion.
EQ
Chapter 6 Programming Motion ▫ 59
command is used to specify the master cycle and the
EM
command.
ET
command.
EP
DMC-21x5 User Manual 1.0a1