M O T I O N C O N T R O L L E R S
DMC-1300 VME Bus Controllers
51
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-
1300 provides a linear interpolation
mode for any combination of 8 axes.
Here, motion between the axes is
coordinated to maintain the pre-
scribed 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
segments can be given prior to and
during motion allowing infinite
paths to be followed without stop-
ping. There is no limit to the total
move length.
2-D Coordinated Motion--Linear and
Circular Interpolation: The DMC-
1300'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 feedrate (VS), vector accel-
eration (VA), and deceleration (VD).
There is no limit to the number of
segments that can be specified allow-
ing long motion paths to be followed
without stopping. The coordinated
motion mode is useful when a con-
stant vector speed must be main-
tained along a two-dimensional path,
such as in engraving or adhesive
applications. The user can also com-
mand 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
VME BUS
DMC-1300
Dual-port Memory Map
ADDRESS DESCRIPTION
000-00F
Semiphore registers
010-03F
General registers:
Status
Error code
Time
Segment count for
coordinated moves
Uncommitted I/O state
Buffer control
Updates control
Interrupt status
Interrupt mask
040-073
Command buffer
090-0C3
Response buffer
0E0-101
Contour buffer
10E-15F
Program buffer
200-23F
X-axis status buffer:
Axes status
Switches
Motor position
Position error
Torque
Auxilary encoder
Command position
Latched position
Velocity
240-27F
Y-axis status buffer
280-2BF
Z-axis status buffer
2C0-2FF
W-axis status buffer
300-33F
E-Axis
34D-37F
F-Axis
380-3BF
G-Axis
3C0-3FF
H-Axis
400-43F
Coordinated axis
440-5BF
Variables
2-D Circular Path
R=1500
C
D (0,3000)
B (-4000,0)
A (0,0)
