#PLAYBCK Begin Playback
CMX Specify contour mode
DT2 Specify time increment
I=0 Initialize array counter
#B Loop counter
CD DX[I]; I=I+1 Specify contour data I=I+1 Increment array counter
JP #B,I<500 Loop until done
CD 0=0 End countour buffer
#Wait;JP#Wait,_CM<>511 Wait until path is done
EN End program
For additional information about automatic array capture, see 359HChapter 7, Arrays.
Virtual Axis
The DMC-40x0 controller has two additional virtual axes designated as the M and N axes. These axes have no
encoder and no DAC. However, they can be commanded by the commands:
AC, DC, JG, SP, PR, PA, BG, IT, GA, VM, VP, CR, ST, DP, RP
The main use of the virtual axes is to serve as a virtual master in ECAM modes, and to perform an unnecessary part
of a vector mode. These applications are illustrated by the following examples.
ECAM Master Example
Suppose that the motion of the XY axes is constrained along a path that can be described by an electronic cam table.
Further assume that the ecam master is not an external encoder but has to be a controlled variable.
This can be achieved by defining the N axis as the master with the command EAN and setting the modulo of the
master with a command such as EMN= 4000. Next, the table is constructed. To move the constrained axes, simply
command the N axis in the jog mode or with the PR and PA commands.
For example,
PAN = 2000
BGN
will cause the XY axes to move to the corresponding points on the motion cycle.
Sinusoidal Motion Example
The x axis must perform a sinusoidal motion of 10 cycles with an amplitude of 1000 counts and a frequency of 20
Hz.
This can be performed by commanding the X and N axes to perform circular motion. Note that the value of VS
must be
VS=2π * R * F
where R is the radius, or amplitude and F is the frequency in Hz.
Set VA and VD to maximum values for the fastest acceleration.
INSTRUCTION INTERPRETATION
VMXN Select Axes
VA 68000000 Maximum Acceleration
VD 68000000 Maximum Deceleration
VS 125664
VS for 20 Hz
CR 1000, -90, 3600
Ten Cycles
VE
BGS
DMC-40x0 User Manual Chapter 6 Programming Motion • 114
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