Galil Motion Control note 2311 Page 3
STPOS = Starting position of axis
ENDPOS = Ending position of axis
X = Number of cam table entries to be generated for this interpolation
RES = 180
O
/ X
Example:
We can illustrate this technique by using some numbers for our example.
We will describe this cam motion with 240 ECAM table entries. The
master axis has 4800 encoder counts per cycle and therefore each ecam
entry corresponds to 20 encoder counts of the master axis. To build the
ecam table, each segment of the motion must be described separately. The
motion from point A to point B occurs during the master position 0 to
1800 counts and therefore requires 90 ecam entries. The motion from
point B to point C occurs from 1800 counts to 2400 on the master and
requires 30 ecam entries. From point C to point D requires 90 ecam
entries and from D to E requires 30 ecam entries.
Cam motion from point A to point B:
Point A corresponds to position 0 of slave and point B corresponds to
position 4800.
STPOS = 0
ENDPOS = 4800
X=90
RES=2
The DMC code for this part of the motion would be the following:
N=0
#LOOPAB
N=N+1
ET[N]=((4800)*((1-@COS[(N*2)]))/2)
JP#LOOPAB,N < 90
