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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] Contour Distance is in DIF
WC Wait for completion
C=C+1
JP #E,C<15
DT0
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:
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
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]
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