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ii • Contents DMC-3425
Example 5 - Velocity Control (Jogging) ...................................................................33
Example 6 - Operation Under Torque Limit .............................................................33
Example 7 - Interrogation..........................................................................................33
Example 8 - Operation in the Buffer Mode...............................................................33
Example 9 - Motion Programs...................................................................................34
Example 10 - Motion Programs with Loops..............................................................34
Example 11- Motion Programs with Trippoints........................................................34
Example 12 - Control Variables ................................................................................35
Example 13 - Control Variables and Offset ..............................................................35
Chapter 3 Connecting Hardware 37
Overview .................................................................................................................................37
Using Inputs.............................................................................................................................37
Limit Switch Input.....................................................................................................37
Home Switch Input....................................................................................................38
Abort Input ................................................................................................................38
Uncommitted Digital Inputs......................................................................................39
Amplifier Interface ..................................................................................................................39
TTL Inputs...............................................................................................................................40
Analog Inputs ..........................................................................................................................40
TTL Outputs ............................................................................................................................41
Chapter 4 Communication 43
Introduction .............................................................................................................................43
RS232 Port...............................................................................................................................43
RS232 - Port 1 DATATERM ................................................................................43
RS-232 Configuration ...............................................................................................43
Ethernet Configuration ............................................................................................................44
Communication Protocols .........................................................................................44
Addressing.................................................................................................................44
Ethernet Handles .......................................................................................................45
Global vs. Local Operation........................................................................................45
Operation of Distributed Control...............................................................................47
Accessing the I/O of the Slaves.................................................................................47
Handling Communication Errors...............................................................................48
Multicasting...............................................................................................................48
Unsolicited Message Handling..................................................................................49
IOC-7007 Support .....................................................................................................49
Modbus Support ........................................................................................................50
Other Communication Options..................................................................................51
Data Record .............................................................................................................................52
Data Record Map.......................................................................................................52
Explanation of Status Information and Axis Switch Information..............................55
Notes Regarding Velocity and Torque Information ..................................................56
QZ Command............................................................................................................56
Using Third Party Software.......................................................................................57
Chapter 5 Command Basics 59
Introduction .............................................................................................................................59
Command Syntax - ASCII.......................................................................................................59
Coordinated Motion with more than 1 axis...............................................................60
Command Syntax - Binary ......................................................................................................60
Binary Command Format..........................................................................................61
Binary command table...............................................................................................62