Galil DMC-1700, DMC-1800 Command Summary - Electronic CAM, Instruction, Interpretation, command

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 or A,B,C,D,E,F,G,H 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
EM x,y,z,w	Specifies the change in position for each axis of the CAM cycle
EP m,n	Defines CAM table entry size and offset
EQ m,n	Disengages ECAM at specified position
ET[n]	Defines the ECAM table entries
EW	Widen segment (see Application Note #2444)

DMC-1700/1800 Chapter 6 Programming Motion • 111