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DMC-1700/1800 Contents • iii
Operands....................................................................................................................84
Command Summary..................................................................................................84
Chapter 6 Programming Motion 85
Overview .................................................................................................................................85
Independent Axis Positioning..................................................................................................87
Command Summary - Independent Axis ..................................................................87
Operand Summary - Independent Axis .....................................................................87
Independent Jogging................................................................................................................89
Command Summary - Jogging..................................................................................89
Operand Summary - Independent Axis .....................................................................90
Position Tracking.....................................................................................................................90
Example - Motion 2:..................................................................................................92
Example Motion 4.....................................................................................................93
Trip Points.................................................................................................................94
Command Summary – Position Tracking Mode .......................................................95
Linear Interpolation Mode.......................................................................................................95
Specifying Linear Segments......................................................................................95
Command Summary - Linear Interpolation...............................................................97
Operand Summary - Linear Interpolation..................................................................97
Example - Linear Move.............................................................................................98
Example - Multiple Moves........................................................................................99
Vector Mode: Linear and Circular Interpolation Motion.......................................................100
Specifying the Coordinate Plane .............................................................................100
Specifying Vector Segments ...................................................................................100
Additional commands..............................................................................................101
Command Summary - Coordinated Motion Sequence............................................103
Operand Summary - Coordinated Motion Sequence...............................................103
Electronic Gearing.................................................................................................................104
Ramped Gearing....................................................................................................................105
Example – Electronic Gearing Over a Specified Interval........................................106
Command Summary - Electronic Gearing ..............................................................107
Example - Simple Master Slave ..............................................................................107
Example - Electronic Gearing .................................................................................107
Example - Gantry Mode..........................................................................................107
Example - Synchronize two conveyor belts with trapezoidal velocity correction...108
Electronic Cam ......................................................................................................................108
Command Summary - Electronic CAM ..................................................................111
Operand Summary - Electronic CAM.....................................................................112
Example - Electronic CAM.....................................................................................112
Contour Mode........................................................................................................................113
Specifying Contour Segments.................................................................................113
Additional Commands.............................................................................................114
Command Summary - Contour Mode .....................................................................115
Stepper Motor Operation .......................................................................................................119
Specifying Stepper Motor Operation.......................................................................119
Using an Encoder with Stepper Motors...................................................................120
Command Summary - Stepper Motor Operation.....................................................120
Operand Summary - Stepper Motor Operation........................................................120
Stepper Position Maintenance Mode (SPM)..........................................................................121
Error Limit...............................................................................................................121
Correction................................................................................................................122
Dual Loop (Auxiliary Encoder).............................................................................................125
Backlash Compensation ..........................................................................................126
Motion Smoothing.................................................................................................................127