Yaskawa SMC–4000 - Manual (Page 363)

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SMC–4000 User Manual
Teach (Record and Play-Back)
Several applications require a machine motion trajectory. Use SMC–4000 automatic array to capture
position data. Captured data may be played back in contour mode. Use the following array commands:
Record and Playback Example
DM C[n] Dimension array
RA C[ ] Specify array for automatic record (up to 4 for SMC–4000)
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
Instruction Interpretation
#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
#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]-XP
OS[C]
Compute the difference
DX[C]=DELTA Store difference in array
C=C+1 Increment index
JP #L,C<500 Repeat until done
#PLAYBCK Begin Playback
CMX Specify contour mode
DT2 Specify time increment
I=0 Initialize array counter
#B Loop counter
CD XPOS[I];WC Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until
done
DT 0;CD0 End contour mode
EN End program