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36 • Chapter 2 Getting Started DMC-1700/1800
Instruction Interpretation
PR 10000 Distance
SP 20000 Speed
DC 100000 Deceleration
AC 100000 Acceleration
BG X Start Motion
Example 3 - Multiple Axes
Objective: Move the four axes independently.
Instruction Interpretation
PR 500,1000,600,-400 Distances of X,Y,Z,W
SP 10000,12000,20000,10000 Slew speeds of X,Y,Z,W
AC 100000,10000,100000,100000 Accelerations of X,Y,Z,W
DC 80000,40000,30000,50000 Decelerations of X,Y,Z,W
BG XZ Start X and Z motion
BG YW Start Y and W motion
Example 4 - Independent Moves
The motion parameters may be specified independently as illustrated below.
Instruction Interpretation
PR ,300,-600 Distances of Y and Z
SP ,2000 Slew speed of Y
DC ,80000 Deceleration of Y
AC, 100000 Acceleration of Y
SP ,,40000 Slew speed of Z
AC ,,100000 Acceleration of Z
DC ,,150000 Deceleration of Z
BG Z Start Z motion
BG Y Start Y motion
Example 5 - Position Interrogation
The position of the four axes may be interrogated with the instruction, TP.
Instruction Interpretation
TP Tell position all four axes
TP X Tell position - X axis only
TP Y Tell position - Y axis only
TP Z Tell position - Z axis only
TP W Tell position - W axis only
The position error, which is the difference between the commanded position and the actual position can be
interrogated with the instruction TE.