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DMC-3425 Chapter 6 Programming Motion• 87
Instruction
Interpretation
#SETUP Label
EAA Select A as master
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
Y = N
*
10+S Define slave position
ET [N] =, B Define table
N = N+1
JP #LOOP, N<=100 Repeat the process
EN
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 cam
PA,500 B starting position
SP,5000 B speed
BGB Move B motor
AM After B moved
AI1 Wait for start signal
EG,1000 Engage slave
AI – 1 Wait for stop signal
EQ,1000 Disengage slave
EN End
The following example illustrates a cam program with a master axis, A, and a single slave B.
Instruction
Interpretation
#A;V1=0 Label; Initialize variable
PA 0,0;BGAB;AMAB Go to position 0,0 on A and B axes
EA A A axis as the Master for ECAM
EM 4000,0 Change for A is 4000, zero for B
EP400,0 ECAM interval is 400 counts with zero start
ET[0]=,0 When master is at 0 position; 1
st
point.
ET[1]=,20 2nd point in the ECAM table