Galil DMC-2X00 user manual Teach Record and Play-Back, Record and Playback Example

JP #c,c<15
EN	End first program
#RUN	Program to run motor
CMA	Contour Mode
DT3	4 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-2x00 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-2x40)
RD _TPA	Specify data for capturing (such as _TPA or _TPC)
RC n,m	Specify capture time interval where n is 2n samples, m is number of records
	to be captured
RC? or _RC	Returns a 1 if recording

Record and Playback Example

Instruction	Interpretation
#RECORD	Begin Program
DP0	Define position for A axis to be 0
DA*[ ]	De-allocate all arrays
DM xpos [501]	Dimension 501 element array called xpos
RA xpos [ ]	Record Elements into xpos array
RD_TPA	Element to be recorded is encoder position of A axis
MOA	Motor off for A axis
RC2	Begin Recording with a sample rate of 22 msec
#LOOP1;JP#LOOP1,_RC=1	Loop until all elements have been recorded
#COMPUTE	Routine to determine the difference between consecutive points
DM dx [500]	Dimension a 500 element array to hold contour points
i = 0	Set loop counter
#LOOP2	Loop to calculate the difference
DX[I]= xpos [i+1]- xpos [i]	Calculate difference
i=i+1	Update loop counter
JP#LOOP2,i<500	Continue looping until dx is full
#PLAYBK	Routine to play back motion that was recorded

DMC-2X00 Chapter 6 Programming Motion y 59