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DMC-3425 Chapter 2 Getting Started• 33
Example 5 - Velocity Control (Jogging)
Objective: Drive the motor at specified speeds.
Instruction
Interpretation
JG 10000 Set Jog Speed
AC 100000 Set acceleration
DC 50000 Set deceleration
BGA Start motion on A axis
after a few seconds, command:
JG –40000 New speed and Direction
TVA Returns speed
This causes velocity changes including direction reversal. The motion can be stopped with the
instruction
STA Stop
Example 6 - Operation Under Torque Limit
The magnitude of the motor command may be limited independently by the instruction TL. The
following program illustrates that effect.
Instruction
Interpretation
TL 0.2 Set output limit to 0.2 volts
JG 10000 Set speed
BGA Start motion on A axis
The motor will probably not move as the output signal is not sufficient to overcome the friction. If the
motion starts, it can be stopped easily by a touch of a finger.
Increase the torque level gradually by instructions such as
TL 1.0 Increase torque limit to 1 volt.
TL 9.98 Increase torque limit to maximum, 9.98 Volts.
The maximum level of 10 volts provides the full output torque.
Example 7 - Interrogation
The values of the parameters may be interrogated using a ?. For example, the instruction
KP ? Return gain
The same procedure applies to other parameters such as KI, KD, FA, etc.
Example 8 - Operation in the Buffer Mode
The instructions may be buffered before execution as shown below.
Instruction
Interpretation
PR 600000 Distance
SP 10000 Speed
WT 10000 Wait 10000 milliseconds before reading the next instruction
BGA Start the motion