Command Summary - Electronic Cam - Galil Motion Control DMC-1600 Series User Manual

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.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each.
If the master points are to start at zero, the required instruction is EP 20,0.
The following routine computes the table points. As the phase equals 0.18X and X varies in
increments of 20, the phase varies by increments of 3.6°. The program then computes the values
of Y according to the equation and assigns the values to the table with the instruction ET[N] = ,Y.
Instruction
#SETUP
EAX
EM 2000,1000
EP 20,0
N = 0
#LOOP
∗
P = N
S = @SIN [P] * 100
Y = N * 10+S
ET [N] =, Y
N = N+1
JP #LOOP, N<=100
EN
Command Summary – Electronic CAM
COMMAND
EA p
EB n
EC n
EG x,y,z,w
EM x,y,z,w
EP m,n
EQ m,n
ET[n]
EW
Now suppose that the slave axis is engaged with a start signal, input 1, but that both the
engagement and disengagement points must be done at the center of the cycle: X = 1000 and Y =
500. This implies that Y must be driven to that point to avoid a jump.
DMC-1600
Interpretation
Label
Select X as master
Cam cycles
Master position increments
Index
Loop to construct table from equation
Note 3.6 = 0.18∗ 20
3.6
Define sine position
Define slave position
Define table
Repeat the process
DESCRIPTION
Specifies master axes for electronic cam where:
P = X,Y,Z or W or A,B,C,D,E,F,G,H for main encoder as master
Enables the ECAM
ECAM counter – sets the index into the ECAM table
Engages ECAM
Specifies the change in position for each axis of the CAM cycle.
Defines CAM table entry size and offset
Disengages ECAM at specified position
Defines the ECAM table entries
Widen segment (see Application Note #2444)
Chapter 6 Programming Motion • 93