viii • Contents DMC-1000
Chapter 6 Programming Motion 45
Overview..................................................................................................................................45
Independent Axis Positioning..................................................................................................45
Command Summary - Independent Axis ..................................................................46
Operand Summary - Independent Axis .....................................................................46
Independent Jogging................................................................................................................47
Command Summary - Jogging..................................................................................48
Operand Summary - Independent Axis .....................................................................48
Linear Interpolation Mode.......................................................................................................49
Specifying Linear Segments......................................................................................49
Specifying Vector Acceleration, Deceleration and Speed:........................................50
Additional Commands...............................................................................................50
Command Summary - Linear Interpolation...............................................................51
Operand Summary - Linear Interpolation..................................................................51
Vector Mode: Linear and Circular Interpolation Motion.........................................................54
Specifying Vector Segments .....................................................................................54
Specifying Vector Acceleration, Deceleration and Speed:........................................55
Additional Commands...............................................................................................55
Command Summary - Vector Mode Motion.............................................................57
Operand Summary - Vector Mode Motion................................................................57
Electronic Gearing...................................................................................................................58
Command Summary - Electronic Gearing.................................................................59
Operand Summary - Electronic Gearing ...................................................................59
Electronic Cam ........................................................................................................................61
Contour Mode..........................................................................................................................66
Specifying Contour Segments...................................................................................66
Additional Commands...............................................................................................67
Command Summary - Contour Mode .......................................................................68
Operand Summary - Contour Mode..........................................................................68
Stepper Motor Operation .........................................................................................................71
Specifying Stepper Motor Operation.........................................................................71
Using an Encoder with Stepper Motors.....................................................................72
Command Summary - Stepper Motor Operation.......................................................73
Operand Summary - Stepper Motor Operation .........................................................73
Dual Loop (Auxiliary Encoder)...............................................................................................73
Backlash Compensation ............................................................................................74
Command Summary - Using the Auxiliary Encoder.................................................75
Operand Summary - Using the Auxiliary Encoder....................................................76
Motion Smoothing...................................................................................................................76
Using the IT and VT Commands (S curve profiling):...............................................76
Using the KS Command (Step Motor Smoothing):...................................................77
Homing....................................................................................................................................78
High Speed Position Capture (Latch)......................................................................................81
Chapter 7 Application Programming 83
Overview..................................................................................................................................83
Using the DMC-1000 Editor to Enter Programs......................................................................83
Edit Mode Commands...............................................................................................84
Program Format.......................................................................................................................85
Using Labels in Programs .........................................................................................85
Special Labels............................................................................................................86
Commenting Programs..............................................................................................86
Executing Programs - Multitasking.........................................................................................87
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