Galil DMC-1800, DMC-1700 3000 2250 1500, 2000, 4000, 6000, Master, EG x,y,z,w, EQ x,y,z,w

EG x,y,z,w

where x,y,z,w are the master positions at which the corresponding slaves must be engaged.

If the value of any parameter is outside the range of one cycle, the cam engages immediately. When the cam is engaged, the slave position is redefined, modulo one cycle.

Step 7. Disengage the slave motion

To disengage the cam, use the command

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, 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 INTERPRETATION

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110 • Chapter 6 Programming Motion DMC-1700/1800