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88 • Chapter 6 Programming Motion DMC-3425
ET[2]=,60 3rd point in the ECAM table
ET[3]=,120 4th point in the ECAM table
ET[4]=,140 5th point in the ECAM table
ET[5]=,140 6th point in the ECAM table
ET[6]=,140 7th point in the ECAM table
ET[7]=,120 8th point in the ECAM table
ET[8]=,60 9th point in the ECAM table
ET[9]=,20 10th point in the ECAM table
ET[10]=,0 Starting point for next cycle
EB 1 Enable ECAM mode
JGA=4000 Set A to jog at 4000
EG ,0 Engage both A and B when Master = 0
BGA Begin jog on A axis
#LOOP;JP#LOOP,V1=0 Loop until the variable is set
EQ,2000 Disengage B when Master = 2000
MF2000 Wait until the Master goes to 2000
ST A Stop the A axis motion
EB 0 Exit the ECAM mode
EN End of the program
The above example shows how the ECAM program is structured and how the commands can be given
to the controller. The next page provides the results captured by the WSDK program. This shows how
the motion will be seen during the ECAM cycles. The first graph is for the A axis, the master, and the
second graph shows the cycle on the B axis.