D=C+1

 

DELTA=XPOS[D]-

Compute the difference

XPOS[C]

 

DX[C]=DELTA

Store difference in array

C=C+1

Increment index

JP #L,C<500

Repeat until done

#PLAYBCK

Begin Playback

CMX

Specify contour mode

DT2

Specify time increment

I=0

Initialize array counter

#B

Loop counter

CD XPOS[I];WC

Specify contour data

I=I+1

Increment array counter

JP #B,I<500

Loop until done

DT 0;CD0

End contour mode

EN

End program

For additional information about automatic array capture, see Chapter 7, Arrays.

Virtual Axis

The DMC-13X8 controller has an additional virtual axis designated as the N axis. This axis has no encoder and no DAC. However, it can be commanded by the commands:

AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP.

The main use of the virtual axis is to serve as a virtual master in ECAM modes, and to perform an unnecessary part of a vector mode. These applications are illustrated by the following examples.

ECAM Master Example

Suppose that the motion of the XY axes is constrained along a path that can be described by an electronic cam table. Further assume that the ecam master is not an external encoder but has to be a controlled variable.

This can be achieved by defining the N axis as the master with the command EAN and setting the modulo of the master with a command such as EMN= 4000. Next, the table is constructed. To move the constrained axes, simply command the N axis in the jog mode or with the PR and PA commands.

For example,

PAN = 2000

BGN

will cause the XY axes to move to the corresponding points on the motion cycle.

Sinusoidal Motion Example

The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a frequency of 20 Hz.

This can be performed by commanding the X and N axes to perform circular motion. Note that the value of VS must be

VS=2p * R * F

where R is the radius, or amplitude and F is the frequency in Hz. Set VA and VD to maximum values for the fastest acceleration.

Chapter 6 Programming Motion • 90

USER MANUAL

Page 90
Image 90
Galil DMC-13X8 user manual Virtual Axis, Ac, Dc, Jg, Sp, Pr, Pa, Bg, It, Ga, Vm, Vp, Cr, St, Dp, Rp, Bgn