Record and Playback Example:
#RECORD
Begin Program
DM XPOS[501]
Dimension array with 501 elements
RA XPOS[]
Specify automatic record
RD _TPX
Specify X position to be captured
MOX
Turn X motor off
RC2
Begin recording; 4 msec interval (at TM1000)
#A;JP#A,_RC=1
Continue until done recording
#COMPUTE
Compute DX
DM DX[500]
Dimension Array for DX
C=0
Initialize counter
#L
Label
D=C+1
DELTA=XPOS[D]-XPOS[C]
Compute the difference
DX[C]=DELTA
Store difference in array
C=C+1
Increment index
JP #L,C<500
Repeat until done
#PLAYBCK
Begin Playback
CMX
Specify contour mode
DT2
Specify time increment
I=0
Initialize array counter
#B
Loop counter
CD DX[I]; I=I+1
Specify contour data I=I+1 Increment array counter
JP #B,I<500
Loop until done
CD 0=0
End countour buffer
#Wait;JP#Wait,_CM<>511
Wait until path is done
EN
End program
For additional information about automatic array capture, see 359HChapter 7, Arrays.
Virtual Axis
The DMC-40x0 controller has two additional virtual axes designated as the M and N axes. These axes have no
encoder and no DAC. However, they can be commanded by the commands:
AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP
The main use of the virtual axes is to serve as a virtual master in ECAM modes, and to perform an unnecessary part
of a vector mode. These applications are illustrated by the following examples.
ECAM Master Example
Suppose that the motion of the XY axes is constrained along a path that can be described by an electronic cam
table. Further assume that the ecam master is not an external encoder but has to be a controlled variable.
This can be achieved by defining the N axis as the master with the command EAN and setting the modulo of the
master with a command such as EMN= 4000. Next, the table is constructed. To move the constrained axes, simply
command the N axis in the jog mode or with the PR and PA commands.
For example,
PAN = 2000
BGN
will cause the XY axes to move to the corresponding points on the motion cycle.
Sinusoidal Motion Example
The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a frequency of 20
Hz.
Chapter 6 Programming Motion ▫ 104 DMC-40x0 User Manual
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