Galil DMC-1510 - Teach (Record and Play-Back)

66 • Chapter 6 Programming Motion DMC-1500
the difference between the positions is computed and is stored in the array DIF. Finally the motors are
run in the contour mode.
Contour Mode Example
Instruction Interpretation
#POINTS Program defines X points
DM POS[16] Allocate memory
DM DIF[15]
C=0 Set initial conditions, C is index
T=0 T is time in ms
#A
V1=50*T
V2=3*T Argument in degrees
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
EN End first program
#RUN Program to run motor
CMX Contour Mode
DT3 4 millisecond intervals
C=0
#E
CD DIF[C] Contour Distance is in DIF
WC Wait for completion
C=C+1
JP #E,C<15
DT0
CD0 Stop Contour
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-1500 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: