Galil DMC-2X00 user manual

Operand Summary - Electronic CAM

command	description
_EB	Contains State of ECAM
_EC	Contains current ECAM index
_EGa	Contains ECAM status for each axis
_EM	Contains size of cycle for each axis
_EP	Contains value of the ECAM table interval
_EQx	Contains ECAM status for each axis

Example

Electronic CAM

The following example illustrates a cam program with a master axis, C, and two slaves, A and B

Instruction	Interpretation
#A;vl=0	Label; Initialize variable
PA 0,0;BGAB;AMAB	Go to position 0,0 on A and B axes
EA C	C axis as the Master for ECAM
EM 0,0,4000	Change for C is 4000, zero for A, B
EP400,0	ECAM interval is 400 counts with zero start
ET[0]=0,0	When master is at 0 position; 1st point.
ET[1]=40,20	2nd point in the ECAM table
ET[2]=120,60	3rd point in the ECAM table
ET[3]=240,120	4th point in the ECAM table
ET[4]=280,140	5th point in the ECAM table
ET[5]=280,140	6th point in the ECAM table
ET[6]=280,140	7th point in the ECAM table
ET[7]=240,120	8th point in the ECAM table
ET[8]=120,60	9th point in the ECAM table
ET[9]=40,20	10th point in the ECAM table
ET[10]=0,0	Starting point for next cycle
EB 1	Enable ECAM mode
JGC=4000	Set C to jog at 4000
EG 0,0	Engage both A and B when Master = 0
BGC	Begin jog on C axis
#LOOP;JP#LOOP,vl=0	Loop until the variable is set
EQ2000,2000	Disengage A and B when Master = 2000
MF,, 2000	Wait until the Master goes to 2000
ST C	Stop the C axis motion
EB 0	Exit the ECAM mode
EN	End of the program

The above example shows how the ECAM program is structured and how the commands can be given to the controller. Figure 6.5 provides the results captured by the WSDK program. This shows how the motion will be seen during the ECAM cycles. The first graph is for the A axis, the second graph shows the cycle on the B axis and the third graph shows the cycle of the C axis.

54 • Chapter 6 Programming Motion DMC-2X00