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DMC-3425 Chapter 6 Programming Motion• 69
Vector Motion
2-D motion path consisting of arc segments and
linear segments, such as engraving or quilting.
Vector velocity, vector acceleration and vector
deceleration are specified. The vector motion
follows the prescribed velocity profile.
VM
VP, CR
VS, VA, VD
NO YES
Electronic Gearing
Motion in which one axis must follow another axis
such as conveyer speed. Once setup, the slave axis
will follow the master position.
GA
GR
NO YES
Contour Mode
1 – 8 axes of motion along arbitrary profiles or
mathematically prescribed profiles such as sine or
cosine trajectories. The path is described by linear
incremental segments and the time between
segments
CM
CD
DT
NO YES
Electronic Cam
Following a trajectory based on a master encoder
position.
EA
EM
EP
ET
NO YES
Independent Axis Positioning
In this mode, motion between the specified axes is independent, and each axis follows its own profile.
The user specifies the desired absolute position (PA) or relative position (PR), slew speed (SP),
acceleration ramp (AC), and deceleration ramp (DC), for each axis. On begin (BG), the DMC-3425
profiler generates the corresponding trapezoidal or triangular velocity profile and position trajectory.
The controller determines a new command position along the trajectory every sample period until the
specified profile is complete. Motion is complete when the last position command is sent by the
DMC-3425 profiler.
NOTE: The actual motor motion may not be complete when the profile has been completed, however,
the next motion command may be specified.
The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or
D axis specifiers are required to select the axes for motion. When no axes are specified, this causes
motion to begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion; however, the
deceleration (DC) and position (PR or PA) cannot be changed until motion is complete. Remember,
motion is complete when the profiler is finished, not when the actual motor is in position. The Stop
command (ST) can be issued at any time to decelerate the motor to a stop before it reaches its final
position.
An incremental position movement (IP) may be specified during motion as long as the additional move
is in the same direction. Here, the user specifies the desired position increment, n. The new target is
equal to the old target plus the increment, n. Upon receiving the IP command, a revised profile will be
generated for motion towards the new end position. The IP command does not require a BG.
NOTE: If the motor is not moving, the IP command is equivalent to the PR and BG command
combination.