Galil DMC-2X00 用户手册

y 53  

 

#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

b = n *10+s 

Define slave position

ET [n] =, b 

Define table

n = n+1 

Update Counter

JP #LOOP, n<=100

Repeat the process

EN End 

Program

Step 9.  Create program to run ECAM mode 

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: 

#RUN Label
EB1 Enable 

cam

PA,500 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

EA p 

Specifies master axes for electronic cam where:

EB n 

Enables the ECAM

EC n 

ECAM counter - sets the index into the ECAM table

EG a,b,c,d Engages ECAM
EM a,b,c,d 

Specifies the change in position for each axis of the CAM cycle 

EP m,n 

Defines CAM table entry size and offset

EQ m,n Disengages ECAM at specified position
ET[n] 

Defines the ECAM table entries

EW Widen 

segment (see Application Note #2444)