Galil Motion Control DMC-4123 - Teach (Record and Play-Back)

V3=-955*@SIN[V2]+V1
Compute position
V4=@INT[V3]
Integer value of V3
POS[C]=V4
Store in array POS
T=T+8
C=C+1
JP #A,C<16
#B
Program to find position differences
C=0
#C
D=C+1
DIF[C]=POS[D]-POS[C]
Compute the difference and store
C=C+1
JP #C,C<15
#RUN
Program to run motor
CMX
Contour Mode
DT3
8 millisecond intervals
C=0
#E
CD DIF[C]
Contour Distance is in DIF
C=C+1
JP #E,C<15
CD 0=0
End contour buffer
#Wait;JP#Wait,_CM<>511
Wait until path is done
EN
End the program
Teach (Record and Play-Back)
Several applications require teaching the machine a motion trajectory. Teaching can be accomplished using the
DMC-41x3 automatic array capture feature to capture position data. The captured data may then be played back
in the contour mode. The following array commands are used:
DM C[n]
Dimension array
RA C[]
Specify array for automatic record (up to 4 for DMC-4143)
RD _TPX
Specify data for capturing (such as _TPX or _TPZ)
RC n,m
Specify capture time interval where n is 2
n
sample periods (1 ms for TM1000), m is number of
records to be captured
RC? or _RC
Returns a 1 if recording
Chapter 6 Programming Motion ▫ 88 DMC-41x3 User Manual