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32 • Chapter 2 Getting Started DMC-3425
Design Examples
Here are a few examples for tuning and using your controller. These examples are shown for a single axis system
only, but can be modified to test up to 8 axes within a distributed control network. See Chapter 6
Programming Motion for more examples of multi-axis programming.
Example 1 - System Set-up
This example assigns the system filter parameters, error limits and enables the automatic error shut-off.
Instruction
Interpretation
KP 10 Set proportional gain
KD 100 Set damping
KI 1 Set integral
OE 1 Set error off
ER 1000 Set error limit
Example 2 - Profiled Move
Objective: Rotate a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration
and deceleration rates of 100,000 counts/s
2
.
Instruction
Interpretation
PR 10000 Distance
SP 20000 Speed
DC 100000 Deceleration
AC 100000 Acceleration
BGA Start Motion
In response, the motor turns and stops.
Example 3 - Position Interrogation
The position of the A axis may be interrogated with the instruction
TPA Tell position
which returns the position of the main encoder.
The position error, which is the difference between the commanded position and the actual position
can be interrogated by the instructions
TEA Tell error
Example 4 - Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction
Interpretation
DP 0 Define the current position as 0
PA 7000 Sets the desired absolute position
BGA Start motion on A axis