C=0

 

#C

 

D=C+1

 

DIF[C]=POS[D]-POS[C]

Compute the difference and store

C=C+1

 

JP #C,C<15

 

EN

End first program

#RUN

Program to run motor

CMX

Contour Mode

DT3

4 millisecond intervals

C=0

 

#E

 

CD DIF[C]

Contour Distance is in DIF

WC

Wait for completion

C=C+1

 

JP #E,C<15

 

DT0

 

CD0

Stop Contour

EN

End the program

Teach (Record and Play-Back)

Several applications require teaching the machine a motion trajectory. Teaching can be accomplished using the DMC-13X8 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]

Dimension array

RA C[]

Specify array for automatic record (up to 4 for DMC-13X8)

RD _TPX

Specify data for capturing (such as _TPX or _TPZ)

RC n,m

Specify capture time interval where n is 2n msec, m is number of records to be

 

captured

RC? or _RC

Returns a 1 if recording

Record and Playback Example:

#RECORD

Begin Program

DM XPOS[501]

Dimension array with 501 elements

RA XPOS[]

Specify automatic record

RD _TPX

Specify X position to be captured

MOX

Turn X motor off

RC2

Begin recording; 4 msec interval

#A;JP#A,_RC=1

Continue until done recording

#COMPUTE

Compute DX

DM DX[500]

Dimension Array for DX

C=0

Initialize counter

#L

Label

USER MANUAL

Chapter 6 Programming Motion • 89

Page 89
Image 89
Galil DMC-13X8 user manual Teach Record and Play-Back, Record and Playback Example