Optima DMC-1xxx and DMC-18x2 Command Reference
TM
i
190
TM
FUNCTION: Update Time
DESCRIPTION:
The TM command sets the sampling period of the control loop. Changing the sampling
period will uncalibrate the speed and acceleration parameters. A negative number turns
off the servo loop. The units of this command are
sec.
ARGUMENTS: TM n where
With the fast firmware: n is an integer in the range 125 to 20000 decimal with resolution of
125 microseconds. The minimum sample time for the DMC-1210, 1318, 1610, 1710,
1718 & 1810 is possible when using the fast firmware. In the Fast firmware mode the
following functions are disabled: TD, DV, TK, NB, NZ, NF, EI, n,Gearing, CAM, PL,
Analog Feedback, Steppers, Trippoints in all but threads 0 and 1, Data Record and TV.
Using the fast firmware the minimum sample times are the following:
Optima Controllers with 1-2 axes
125
sec
Optima Controllers with 3-4 axes
250
sec
Optima Controllers with 5-6 axes
375
sec
Optima Controllers with 7-8 axes
500
sec
With the normal firmware: Using the normal firmware the minimum sample times are the
following:
Optima Controllers with 1-2 axes
250
sec
Optima Controllers with 3-4 axes
375
sec
Optima Controllers with 5-6 axes
500
sec
Optima Controllers with 7-8 axes
625
sec
n = ?
returns the value of the sample time.
USAGE: DEFAULTS:
While Moving
Yes
Default Value
1000
In a Program
Yes
Default Format
1.0
Command Line
Yes
Controller Usage
ALL CONTROLLERS
OPERAND USAGE:
_TM contains the value of the sample time.
EXAMPLES:
TM -1000
Turn off internal clock
TM 2000
Set sample rate to 2000 msec (This will cut all speeds in half and all acceleration
in fourths)
TM 1000
Return to default sample rate
NOTE: TM1000 actually specifies a servo update rate of 976
s
