#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-40x0 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-4040)
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
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
Chapter 6 Programming Motion • 113 DMC-40x0 User Manual
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