Filter
Top Products
DMC-3425 Chapter 6 Programming Motion• 93
C=0
#C
D=C+1
DIF[C]=POS[D]-POS[C] Compute the difference and store
C=C+1
JP #C,C<15
EN End first program
#RUN Program to run motor
CMA Contour Mode
DT3 4 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-3425 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
RD _TPA Specify data for capturing (such as _TPA or _TPB)
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:
Instruction Interpretation
#RECORD Begin Program
DM APOS[501] Dimension array with 501 elements
RA APOS[] Specify automatic record
RD _TPA Specify A position to be captured
MOA Turn A 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