Galil DMC-1800 Teach Record and Play-Back, Record and Playback Example, DMC-1700/1800

EN	End first program
#RUN	Program to run motor
CMX	Contour Mode
DT3	8 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-1700/1800 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-1740 or DMC-1840)
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
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

DMC-1700/1800 Chapter 6 Programming Motion • 117