Optima DMC-1xxx and DMC-18x2 Command Reference
PT
i
154
PT
FUNCTION: Position Tracking
DESCRIPTION:
The PT command will place the controller in the position tracking mode. In this mode, the
controller will allow the user to issue absolute position commands on the fly. The motion
profile is trapezoidal with the parameters controlled by acceleration, deceleration, and
speed (AD, DC, SP). The absolute position may be specified such that the axes will
begin motion, continue in the same direction, reverse directions, or decelerate to a stop.
When an axis is in the special mode, the ST command, will exit the mode. The PA
command is used togive the controller an absolute position target. Motion commands
other than PA are not supported in this mode.
ARGUMENTS: PT n,n,n,n,n,n,n,n
n=0 or 1 where 1 designates the controller is in the special mode.
n=? returns the current setting
USAGE: DEFAULTS:
While Moving
Yes
Default Value
0
In a Program
Yes
Default Format
0
Command Line
Yes
Controller Usage
Optima Series, DMC-18x2, and DMC-21x2/x3
RELATED COMMANDS:
"PA"
Position Absolute
"AC"
Acceleration
"DC"
Deceleration
"SP"
Speed
EXAMPLES:
PT1,1,1,1
Enable the position tracking mode for axes X, Y, Z, and W
#A
Create label A in a program. This small program will update the absolute
position at 100 Hz. Note that the user must update the variables V1, V2,
V3 and V4 from the host PC, or another thread operating on the controller.
PAV1,V2,V3,V4
Command XYZW axes to move to absolute positions. Mostion begins
when the command is processed. BG is not required to begin motion in
this mode. In this example, it is assumed that the user is updating the
variables at a specified rate. The controller will update the new target
position every 10 milliseconds (TW10).
WT10
Wait 10 milliseconds
JP#A
Repeat by jumping back to label A
Special Notes: The AM, and MC trip points are not valid in this mode. It is recommended to use MF
and MR as trip points with this command, as they allow the user to specify both the absolute position,
and the direction. _BG and the AP trip point may also be used.
