Galil DMC-3425 user manual Eaa, #Loop, #Run, EB1, AI1, PA 0,0BGABAMAB, EA a

Instruction	Interpretation
#SETUP	Label
EAA	Select A 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] =, B	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: A = 1000 and B = 500. This implies that B 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	B starting position
SP,5000	B speed
BGB	Move B motor
AM	After B moved
AI1	Wait for start signal
EG,1000	Engage slave
AI – 1	Wait for stop signal
EQ,1000	Disengage slave
EN	End

The following example illustrates a cam program with a master axis, A, and a single slave B.

Instruction	Interpretation
#A;V1=0	Label; Initialize variable
PA 0,0;BGAB;AMAB	Go to position 0,0 on A and B axes
EA A	A axis as the Master for ECAM
EM 4000,0	Change for A is 4000, zero for B
EP400,0	ECAM interval is 400 counts with zero start
ET[0]=,0	When master is at 0 position; 1st point.
ET[1]=,20	2nd point in the ECAM table
DMC-3425	Chapter 6 Programming Motion• 87