Galil DMC-1700 Manual De Usuario
DMC-1700/1800
Chapter 6 Programming Motion • 117
EN
End first program
#RUN
Program to run motor
CMX Contour
Mode
DT3
8 millisecond intervals
C=0
#E
CD DIF[C]
#E
CD DIF[C]
Contour Distance is in DIF
WC
Wait for completion
C=C+1
JP #E,C<15
JP #E,C<15
DT0
CD0 Stop
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-1700/1800 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:
DMC-1700/1800 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-1740 or DMC-1840)
RD _TPX
Specify data for capturing (such as _TPX or _TPZ)
RC n,m
Specify capture time interval where n is 2n msec, m is number of records to be
captured
captured
RC? or _RC
Returns a 1 if recording
Record and Playback Example:
#RECORD Begin
Program
DM XPOS[501]
Dimension array with 501 elements
RA XPOS[]
Specify automatic record
RD _TPX
Specify X position to be captured
MOX
Turn X motor off
RC2
Begin recording; 4 msec interval
#A;JP#A,_RC=1
Continue until done recording
#COMPUTE Compute
DX
DM DX[500]
Dimension Array for DX
C=0 Initialize
counter
#L Label
D=C+1
DELTA=XPOS[D]-
XPOS[C]
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
CMX
Specify contour mode