Independent Axis Positioning: In
this mode, each axis follows its own
prescribed profile. The user specifies
the desired absolute position (PA) or
relative position (PR), along with the
acceleration rate (AC), deceleration
rate (DC), and slew speed (SP).
Position can be interrogated at any
time using the tell position (TP)
command.
Jogging: The jog mode allows the user
to command each motor to run at a
prescribed jog speed. The user specifies
the jog speed (JG), the acceleration rate
(AC), and the deceleration rate (DC).
On begin (BG), the motor accelerates
up to the jog speed and continues at
that speed until a new speed or stop
command (ST) is issued. The direction
of motion is specified by the sign of
the JG parameter. The JG, AC, and
DC parameters can be changed at any
time during motion. Average speed can
be interrogated at any time using the
tell velocity (TV) command.
Linear Interpolation: The DMC-1000
provides a linear interpolation mode
for any combination of 1,2,3, and 4
axes or, 5,6,7, and 8 axes if the DMC-
1080 is used. Here, motion between
the axes is coordinated to maintain the
prescribed vector speed (VS), accelera-
tion rate (VA), and deceleration rate
(VD) along the specified path. The
path is described by incremental dis-
tances (LI) for each axis. Several LI seg-
ments can be given prior to and during
motion allowing infinite paths to be
followed without stopping. There is no
limit to the total move length.
2-D Coordinated Motion -- Linear and
Circular Interpolation: The DMC-
1000's coordinated motion mode
(VM) makes it easy to follow a two-
dimensional path consisting of multi-
ple straight-line and arc segments.
Here, the user programs linear moves
(VP) and circular moves (CR), in addi-
tion to the feed-rate (VS), vector accel-
eration (VA), and deceleration (VD).
There is no limit to the number of seg-
ments that can be specified allowing
long motion paths to be followed
without stopping. The coordinated
2-D Circular Path
R=1500
C
D (0,3000)
B (-4000,0)
A (0,0)
Modes of Motion
motion mode is useful when a con-
stant vector speed must be maintained
along a two-dimensional path, such as
in engraving or adhesive applications.
The vector speed can be changed at
any time during motion, which is ideal
for slowing down around sharp cor-
ners. The user can also command a
third axis to remain tangent to the
coordinated path, which is ideal for
cutting tools.
2-D path at constant vector speed.
Example:
VM XY
XY motion plane
VS 10000
Vector speed
VP -4000,0 Segment AB
CR 1500,270,-180 Segment BC
VP 0,3000 Segment CD
CR 1500,90,-180 Segment DA
VE End of sequence
BGS Begin sequence
DMC-1000 ISA Bus Controller
63
M O T I O N C O N T R O L L E R S
ISA BUS
DMC-1000
