Galil DMC-13X8 user manual Command Summary Electronic CAM, Instruction Interpretation

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	INTERPRETATION
#SETUP	Label
EAX	Select X as master
EM 2000,1000	Cam cycles
EP 20,0	Master position increments
N = 0	Index
#LOOP	Loop to construct table from equation
P = N∗3.6	Note 3.6 = 0.18∗20
S = @SIN [P] *100	Define sine position
Y = N *10+S	Define slave position
ET [N] =, Y	Define table
N = N+1
JP #LOOP, N<=100	Repeat the process
EN

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.

This is done with the program:

INSTRUCTION	INTERPRETATION
#RUN	Label
EB1	Enable cam
PA,500	starting position
SP,5000	Y speed
BGY	Move Y motor
AM	After Y moved
AI1	Wait for start signal
EG,1000	Engage slave
AI - 1	Wait for stop signal
EQ,1000	Disengage slave
EN	End

Command Summary - Electronic CAM

COMMAND	DESCRIPTION
EA p	Specifies master axes for electronic cam where:
	p = X,Y,Z or W for main encoder as master
EB n	Enables the ECAM
EC n	ECAM counter - sets the index into the ECAM table
EG x,y,z,w	Engages ECAM

USER MANUAL Chapter 6 Programming Motion • 83