DMC-1500 Chapter 6 Programming Motion • 67
DM C[n] Dimension array
RA C[] Specify array for automatic record (up to 8 arrays)
RD _TPX Specify data for capturing (such as _TPX or _TPZ)
RC n,m Specify capture time interval where n is 2n msec, m is number of records to be captured
RC? or _RC Returns a 1 if recording
Record and Playback Example:
Instruction Interpretation
#RECORD Begin Program
DP0 Define position for X axis to be 0
DA*[ ] De-allocate all arrays
DM XPOS [501] Dimension 501 element array called XPOS
RA XPOS [ ] Record Elements into XPOS array
RD_TPX Element to be recorded is encoder position of X axis
MOX Motor off for X axis
RC2 Begin Recording with a sample rate of 2 msec
#LOOP1;JP#LOOP1,_RC=1 Loop until all elements have been recorded
#COMPUTE Routine to determine the difference between consecutive points
DM DX [500] Dimension a 500 element array to hold contour points
I = 0 Set loop counter
#LOOP2 Loop to calculate the difference
DX[I]=XPOS[I+1]-XPOS[I] Calculate difference
I=I+1 Update loop counter
JP#LOOP2,I<500 Continue looping until DX is full
#PLAYBK Routine to play back motion that was recorded
SHX Servo Here
WT1000 Wait 1 sec (1000 msec)
CMX Specify contour mode on X axis
DT2 Set contour data rate to be 2 msec
I=0 Set array index to 0
#LOOP3 Subroutine to execute contour points
CD DX[I];WC Contour data command; Wait for next contour point
I=I+1 Update index
JP#LOOP3,I<500 Continue until all array elements have been executed
DT0 Set contour update rate to 0
CD0 Disable the contour mode (combination of DT0 and CD0)
EN End program
For additional information about Automatic Array Capture, see Chapter 7, Arrays.
Stepper Motor Operation
When configured for stepper motor operation, several commands are interpreted differently than from
servo mode. The following describes operation with stepper motors.
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