USER MANUAL Contents • 5
Chapter 6 Programming Motion 63
Overview................................................................................................................................. 63
Independent Axis Positioning..................................................................................................64
Command Summary - Independent Axis.................................................................. 65
Operand Summary - Independent Axis..................................................................... 65
Independent Jogging................................................................................................................67
Command Summary - Jogging..................................................................................67
Operand Summary - Independent Axis..................................................................... 67
Linear Interpolation Mode.......................................................................................................68
Specifying Linear Segments......................................................................................68
Command Summary - Linear Interpolation...............................................................70
Operand Summary - Linear Interpolation..................................................................71
Example - Linear Move.............................................................................................71
Example - Multiple Moves........................................................................................72
Vector Mode: Linear and Circular Interpolation Motion.........................................................73
Specifying the Coordinate Plane............................................................................... 73
Specifying Vector Segments..................................................................................... 73
Additional commands................................................................................................74
Command Summary - Coordinated Motion Sequence..............................................76
Operand Summary - Coordinated Motion Sequence.................................................76
Electronic Gearing...................................................................................................................77
Command Summary - Electronic Gearing................................................................ 78
Electronic Cam........................................................................................................................ 79
Command Summary - Electronic CAM....................................................................83
Operand Summary - Electronic CAM.......................................................................84
Example - Electronic CAM.......................................................................................84
Contour Mode..........................................................................................................................85
Specifying Contour Segments...................................................................................85
Additional Commands...............................................................................................87
Command Summary - Contour Mode.......................................................................87
Operand Summary - Contour Mode..........................................................................87
Stepper Motor Operation.........................................................................................................91
Specifying Stepper Motor Operation.........................................................................91
Using an Encoder with Stepper Motors.....................................................................92
Command Summary - Stepper Motor Operation.......................................................93
Operand Summary - Stepper Motor Operation..........................................................93
Stepper Position Maintenance Mode (SPM)............................................................................93
Error Limit.................................................................................................................94
Correction..................................................................................................................94
Dual Loop (Auxiliary Encoder)...............................................................................................98
Backlash Compensation............................................................................................ 99
Motion Smoothing.................................................................................................................100
Using the IT and VT Commands:............................................................................100
Using the KS Command (Step Motor Smoothing):.................................................101
Homing..................................................................................................................................102
Command Summary - Homing Operation...............................................................104
Operand Summary - Homing Operation..................................................................104
High Speed Position Capture (The Latch Function)..............................................................104
Fast Update Rate Mode......................................................................................................... 105
Chapter 7 Application Programming 107
Overview............................................................................................................................... 107
Using the DMC-13X8 Editor to Enter Programs...................................................................107
Edit Mode Commands.............................................................................................108