Galil DMC-13X8 user manual 3000 2250 1500 2000 4000 6000 Master

EQ x,y,z,w

where x,y,z,w are the master positions at which the corresponding slave axes are disengaged.

3000

2250

1500

0 2000 4000 6000 Master X

Figure 6.4: Electronic Cam Example

This disengages the slave axis at a specified master position. If the parameter is outside the master cycle, the stopping is instantaneous.

To illustrate the complete process, consider the cam relationship described by the equation:

Y = 0.5 * X + 100 sin (0.18*X)

where X is the master, with a cycle of 2000 counts.

The cam table can be constructed manually, point by point, or automatically by a program. The following program includes the set-up.

The instruction EAX defines X as the master axis. The cycle of the master is

2000. Over that cycle, X 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.

Chapter 6 Programming Motion • 82 USER MANUAL