M O T I O N C O N T R O L L E R S
DMC-1300 VME Bus Controllers
53
MOTION
ASCII Binary Description
AB $D3 Abort motion
AC $CC Acceleration
BG $CE Begin motion
CD - - Contour data
CM $D4 Contour mode
CR $E1 Circle
CS $E2 Clear motion sequence
DC $CD Deceleration
DT $D5 Contour time interval
ES $EV Ellipse scaling
FE $D1 Find edge
FI $D6 Find index
GA - - Master axis for gearing
GR $D7 Gear ratio
HM $D0
Home
IP $CF Increment position
IT $BC Smoothing time constant
independent
JG $CB Jog mode
LE $E6 Linear interpolation end
LI $E9 Linear interpolation distance
LM $E8 Linear interpolation mode
PA $C8 Position absolute
PR $C9 Position relative
SP $CA Speed
ST $D2 Stop
TN $EC Tangent
VA $V3 Vector acceleration
VD $E5 Vector deceleration
VE $E6 Vector sequence end
VM $V7 Coordinated motion mode
VP $E0 Vector position
VS $E4 Vector speed
VT $VA Smoothing time constant--
vector
PROGRAM FLOW
AD $A2 After distance
AI $A1 After input
AM $A4 After motion complete
AP $A3 After absolute position
AR $AA After relative distance
AS $A5 At speed
AT $A7 After time
AV $AB After vector distance
EN $84 End program
HX $97 Halt task
II $89 Input interrupt
JP $87 Jump to program location
JS $88 Jump to subroutine
PROGRAM FLOW (continued)
ASCII Binary Description
MG $81 Message
NO $80 No operation
PP $AO Program pause
RE
- - Return from error subroutine
RI - - Return from interrupt
WC - - Wait for contour data
WT $A6 Wait
XQ $82 Execute program
ZS $83 Zero subroutine stack
GENERAL CONFIGURATION
AL $90 Arm latch
BN $BO Burn
CB $8E Clear bit
CE $F2 Configure encoder type
CN $F3 Configure switches and stepper
DA
- - Deallocate arrays
DE $C4 Define dual encoder position
DM
- - Dimension arrays
DP $C3 Define position
ED $98 Edit mode
EI $8C Enable interrupts
MO $BD Motor off
MT $F5 Motor type
OB $92 Define output bit
OP $8F Output port
RC $FO Record
RD - - Record data
RM $B1 Communication mode
BP $B2 Burn program
CP $9D Clear program
RS $AC Reset
SB $80 Set bit
UI $8B User interrupt
CONTROL FILTER SETTINGS
DV $F4 Damping for dual loop
FA $E8 Acceleration feedforward
FV $C5 Velocity feedforward
GN $B8 Gain
IL $B5 Integrator limit
KD $B7 Derivative constant
KI $BA Integrator constant
KP $B6 Proportional constant
OF $C2 Offset
SH $BB Servo here
TL $BE Torque limit
TM $AE Sample time
ZR $B9 Zero
STATUS
ASCII Binary Description
RP - - Report command position
RL $F1 Report latch
SC - - Stop code
TB
- - Tell status
TC
- - Tell error code
TD - - Tell dual encoder
TE - - Tell error
TI - - Tell input
TP
- - Tell position
TR
$AF
Trace
TS - - Tell switches
TT - - Tell torque
TV - - Tell velocity
ERROR AND LIMITS
BL $C7 Reverse software limit
ER $BF Error limit
FL $C6 Forward software limit
OE $CO Off on error
EDITOR
- - $9D Save line
- - $9B Previous line
- - $99 Insert line
- - $9A Delete line
- - $9C Quit editor
ARITHMETIC FUNCTIONS
@SIN
Sine
@COS Cosine
@ABS
Absolute value
@FRAC Fraction portion
@INT
Integer portion
@RND
Round
@SQR Square
root
@IN
Return digital input
@AN
Return analog input
@COM 1's complement
+
Add
-
Subtract
* Multiply
/
Divide
&
And
|
Or
( )
Parentheses
Command Summary
VME BUS
DMC-1300
