Galil DMC-2X00 User Manual
Page 107
Master A
4000
2250
2000
6000
3000
1500
0
Figure 6.4: Electronic Cam Example
This disengages the slave axis at a specified master position. If the parameter is outside the master
cycle, the stopping is instantaneous.
Step 8. Create program to generate ECAM table
To illustrate the complete process, consider the cam relationship described by
the equation:
B
=
0.5
* A + 100 sin (0.18*A)
where A is the master, with a cycle of 2000 counts.
The cam table can be constructed manually, point by point, or automatically by a program. The
following program includes the set-up. The instruction EAA defines A as the master axis.
The cycle of the master is 2000. Over that cycle, B varies by 1000. This leads to the
instruction EM 2000,1000.
Suppose we want to define a table with 100 segments. This implies increments of 20 counts each.
If the master points are to start at zero, the required instruction is EP 20,0.
The following routine computes the table points. As the phase equals 0.18A and A varies in
increments of 20, the phase varies by increments of 3.6
°. The program then computes the
values of B according to the equation and assigns the values to the table with the instruction
ET[N] = ,B.
DMC-2X00
Chapter 6 Programming Motion
y 97