Galil DMC-3425 Manual De Usuario
94 • Chapter 6 Programming Motion
DMC-3425
#L Label
D=C+1
DELTA=XPOS[D]-XPOS[C] Compute the difference
DX[C]=DELTA
D=C+1
DELTA=XPOS[D]-XPOS[C] Compute the difference
DX[C]=DELTA
Store difference in array
C=C+1 Increment
index
JP #L,C<500
Repeat until done
#PLAYBCK Begin
Playback
CMA
Specify contour mode
DT2
Specify time increment
I=0
Initialize array counter
#B Loop
counter
CD XPOS[I];WC
Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until
done
done
DT 0;CD0
End contour mode
EN End
program
For additional information about automatic array capture, see Chapter 7, Arrays.
Virtual Axis (Local Mode)
The DMC-3425 controller has an internal motion profiler, also referred to as a virtual axis. This axis is
designated as the N axis and has no encoder input and no DAC output. With the N axis, a commanded
position profile can be generated using the following modes of motion:
designated as the N axis and has no encoder input and no DAC output. With the N axis, a commanded
position profile can be generated using the following modes of motion:
Mode of Motion
Virtual Axis usage
Commands
Relative Independent
Axis Positioning
Axis Positioning
N axis profile is specified with a relative distance, velocity,
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
PRN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
Absolute Independent
Axis Positioning
Axis Positioning
N axis profile is specified with an absolute distance, velocity,
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
PAN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
Independent Jogging
N axis profile is specified with a prescribed velocity with no
final endpoint. The motion is specified with velocity,
acceleration and deceleration. Motion stops on Stop
command.
final endpoint. The motion is specified with velocity,
acceleration and deceleration. Motion stops on Stop
command.
JGN=<value>
ACN=<value>
DCN=<value>
STN=<value>
ACN=<value>
DCN=<value>
STN=<value>
Vector Motion
N axis profile replaces one of the 2 axes specified for 2-D
motion. Vector velocity, vector acceleration and vector
deceleration are specified. The vector motion follows the
prescribed velocity profile.
motion. Vector velocity, vector acceleration and vector
deceleration are specified. The vector motion follows the
prescribed velocity profile.
VMxN
VMNx
x represents the 2
VMNx
x represents the 2
nd
axis used for
vector motion
vector motion
Electronic Gearing
N axis can be used as a master axis for gearing
GAx=N
GA N,N
GA N,N
Electronic Cam
N axis can be used as a master axis for electronic CAM
EA N
EMN=<value>
EMN=<value>