JP #c,c<15
EN End first program
#RUN Program to run motor
CMA 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-2x00 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-2x40)
RD _TPA Specify data for capturing (such as _TPA or _TPC)
RC n,m
Specify capture time interval where n is 2
n
samples, 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 A 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_TPA Element to be recorded is encoder position of A axis
MOA Motor off for A axis
RC2 Begin Recording with a sample rate of 2
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
104 • Chapter 6 Programming Motion DMC-2X00
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