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DMC-3425 Contents• iii
Controller Response to DATA ................................................................................................63
Interrogating the Controller .....................................................................................................64
Interrogation Commands...........................................................................................64
Summary of Interrogation Commands ......................................................................64
Interrogating Current Commanded Values................................................................64
Operands....................................................................................................................64
Command Summary..................................................................................................65
Chapter 6 Programming Motion 67
Overview .................................................................................................................................67
Global vs. Local Operation........................................................................................67
Independent Axis Positioning..................................................................................................69
Command Summary - Independent Axis ..................................................................70
Operand Summary - Independent Axis .....................................................................70
Examples ...................................................................................................................70
Independent Jogging................................................................................................................72
Command Summary - Jogging..................................................................................72
Operand Summary - Independent Axis .....................................................................72
Examples ...................................................................................................................72
Linear Interpolation Mode (Local Mode)................................................................................73
Specifying Linear Segments......................................................................................73
Additional Commands...............................................................................................74
Command Summary - Linear Interpolation...............................................................75
Operand Summary - Linear Interpolation..................................................................75
Example.....................................................................................................................76
Example - Linear Move.............................................................................................76
Example - Multiple Moves........................................................................................77
Vector Mode: Linear and Circular Interpolation (Local Mode) ..............................................78
Specifying Vector Segments .....................................................................................78
Additional commands................................................................................................79
Command Summary - Coordinated Motion Sequence..............................................80
Operand Summary - Coordinated Motion Sequence.................................................80
Electronic Gearing (Local Mode)............................................................................................82
Command Summary - Electronic Gearing ................................................................82
Electronic Cam (Local Mode) .................................................................................................83
Contour Mode (Local Mode)...................................................................................................89
Specifying Contour Segments ...................................................................................89
Additional Commands...............................................................................................91
Command Summary - Contour Mode .......................................................................91
Operand Summary - Contour Mode..........................................................................91
Virtual Axis (Local Mode) ......................................................................................................94
Ecam Master Example...............................................................................................95
Sinusoidal Motion Example ......................................................................................95
Stepper Motor Operation .........................................................................................................95
Specifying Stepper Motor Operation.........................................................................95
Stepper Motor Smoothing .........................................................................................96
Monitoring Generated Pulses vs. Commanded Pulses ..............................................96
Motion Complete Trippoint.......................................................................................97
Using an Encoder with Stepper Motors.....................................................................97
Command Summary - Stepper Motor Operation.......................................................97
Operand Summary - Stepper Motor Operation..........................................................97
Dual Loop (Auxiliary Encoder)...............................................................................................98
Using the CE Command............................................................................................98
Additional Commands for the Auxiliary Encoder.....................................................98
Backlash Compensation ............................................................................................98