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DMC-2X00 Chapter 6 Programming Motion y 53
Instruction Interpretation
#SETUP Label
EAA Select A as maste
r
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 Counte
r
JP #LOOP, n<=100 Repeat the process
EN End Progra
m
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:
Instruction Interpretation
#RUN Label
EB1 Enable ca
m
PA,500 starting position
SP,5000 B spee
d
BGB Move B moto
r
AM After B move
d
AI1 Wait for start signal
EG,1000 Engage slave
AI - 1 Wait for stop signal
EQ,1000 Disengage slave
EN En
d
Command Summary - Electronic CAM
Command Description
EA
p
S
p
ecifies 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
En
g
a
g
es ECAM
EM a
,
b
,
c
,d
S
p
ecifies the chan
g
e in
p
osition for each axis of the CAM c
y
cle
EP m
,
n Defines CAM table entr
y
size and offset
E
Q
m
,
n Disen
g
a
g
es ECAM at s
p
ecified
p
osition
ET
[
n
]
Defines the ECAM table entries
EW Widen se
g
ment
(
see A
pp
lication Note #2444
)