DMC-1000 Chapter 6 Programming Motion • 65
EN End
The following example illustrates a cam program with a master axis, Z, and two slaves, X and Y.
Instruction Interpretation
#A;V1=0
Label; Initialize variable
PA 0,0;BGXY;AMXY
Go to position 0,0 on X and Y axes
EA Z
Z axis as the Master for ECAM
EM 0,0,4000
Change for Z is 4000, zero for X, Y
EP400,0
ECAM interval is 400 counts with zero start
ET[0]=0,0
When master is at 0 position; 1st point.
ET[1]=40,20
2nd point in the ECAM table
ET[2]=120,60
3rd point in the ECAM table
ET[3]=240,120
4th point in the ECAM table
ET[4]=280,140
5th point in the ECAM table
ET[5]=280,140
6th point in the ECAM table
ET[6]=280,140
7th point in the ECAM table
ET[7]=240,120
8th point in the ECAM table
ET[8]=120,60
9th point in the ECAM table
ET[9]=40,20
10th point in the ECAM table
ET[10]=0,0
Starting point for next cycle
EB 1
Enable ECAM mode
JGZ=4000
Set Z to jog at 4000
EG 0,0
Engage both X and Y when Master = 0
BGZ
Begin jog on Z axis
#LOOP;JP#LOOP,V1=0
Loop until the variable is set
EQ2000,2000
Disengage X and Y when Master = 2000
MF,, 2000
Wait until the Master goes to 2000
ST Z
Stop the Z 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 X axis, the second
graph shows the cycle on the Y axis and the third graph shows the cycle of the Z axis.
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