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94 • Chapter 6 Programming Motion DMC-3425
#L Label
D=C+1
DELTA=XPOS[D]-XPOS[C] Compute the difference
DX[C]=DELTA Store difference in array
C=C+1 Increment index
JP #L,C<500 Repeat until done
#PLAYBCK Begin Playback
CMA Specify contour mode
DT2 Specify time increment
I=0 Initialize array counter
#B Loop counter
CD XPOS[I];WC
Specify contour data I=I+1 Increment array counter JP #B,I<500 Loop until
done
DT 0;CD0 End contour mode
EN End program
For additional information about automatic array capture, see Chapter 7, Arrays.
Virtual Axis (Local Mode)
The DMC-3425 controller has an internal motion profiler, also referred to as a virtual axis. This axis is
designated as the N axis and has no encoder input and no DAC output. With the N axis, a commanded
position profile can be generated using the following modes of motion:
Mode of Motion Virtual Axis usage Commands
Relative Independent
Axis Positioning
N axis profile is specified with a relative distance, velocity,
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
PRN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
Absolute Independent
Axis Positioning
N axis profile is specified with an absolute distance, velocity,
acceleration and deceleration. The N axis profile follows the
prescribed velocity profile.
PAN=<value>
ACN=<value>
DCN=<value>
SPN=<value>
Independent Jogging
N axis profile is specified with a prescribed velocity with no
final endpoint. The motion is specified with velocity,
acceleration and deceleration. Motion stops on Stop
command.
JGN=<value>
ACN=<value>
DCN=<value>
STN=<value>
Vector Motion
N axis profile replaces one of the 2 axes specified for 2-D
motion. Vector velocity, vector acceleration and vector
deceleration are specified. The vector motion follows the
prescribed velocity profile.
VMxN
VMNx
x represents the 2
nd
axis used for
vector motion
Electronic Gearing N axis can be used as a master axis for gearing GAx=N
GA N,N
Electronic Cam N axis can be used as a master axis for electronic CAM EA N
EMN=<value>