Galil user manual Programming Motion DMC-3425

In the electronic cam mode, the position of the master is always expressed within one cycle. In this example, the position of a is always expressed in the range between 0 and 6000. Similarly, the slave position is also redefined such that it starts at zero and ends at 1500. At the end of a cycle when the master is 6000 and the slave is 1500, the positions of both a and b are redefined as zero. To specify the master cycle and the slave cycle change, we use the instruction EM.

EM a,b

where a,b specify the cycle of the master and the total change of the slaves over one cycle.

The cycle of the master is limited to 8,388,607 whereas the slave change per cycle is limited to 2,147,483,647. If the change is a negative number, the absolute value is specified. For the given example, the cycle of the master is 6000 counts and the change in the slave is 1500. Therefore, we use the instruction:

EM 6000,1500

Step 3. Specify the master interval and starting point.

Next we need to construct the ECAM table. The table is specified at uniform intervals of master positions. Up to 256 intervals are allowed. The size of the master interval and the starting point are specified by the instruction:

EP m,n

where m is the interval width in counts, and n is the starting point.

For the given example, we can specify the table by specifying the position at the master points of 0, 2000, 4000 and 6000. We can specify that by

EP 2000,0

Step 4. Specify the slave positions.

Next, we specify the slave positions with the instruction

ET[n]=x,y

where n indicates the order of the point.

The value, n, starts at zero and may go up to 256. The parameters x,y indicate the corresponding slave position. For this example, the table may be specified by

84 • Chapter 6 Programming Motion DMC-3425