18 • Chapter 2 Getting Started DMC-1000
For a more detailed description of the operation of the PID filter and/or servo system theory, see
Chapter 10 - Theory of Operation.
Design Examples
Here are a few examples for tuning and using your controller. These examples have remarks next to
each command - these remarks must not be included in the actual program.
Example 1 - System Set-up
This example assigns the system filter parameters, Error Limits And Enables The Automatic Error
Shut-Off.
Instruction Interpretation
KP10,10,10,10,10,10,10,10 Set gains for a,b,c,d,e,f,g,and h axes
KP10,10,10,10,10,10,10,10 Set gains for a,b,c,d,e,f,g,and h axes
KP*=10 Alternate method for setting gain on all axes
KPX=10 Alternate method for setting X (or A) axis gain
KPA=10 Alternate method for setting A (or X) axis gain
1080
When using controllers with 5 or more axes, the X,Y,Z and W axes can also be referred to as the
A,B,C,D axes.
Instruction Interpretation
OE 1,1,1,1,1,1,1,1 Enable automatic Off on Error function for all axes
ER*=1000 Set error limit for all axes to 1000 counts
KP10,10,10,10,10,10,10,10 Set gains for a,b,c,d,e,f,g,and h axes
KP*=10 Alternate method for setting gain on all axes
KPX=10 Alternate method for setting X (or A) axis gain
KPA=10 Alternate method for setting A (or X) axis gain
KPZ=10 Alternate method for setting Z axis gain
KPD=10 Alternate method for setting D axis gain
KPH=10 Alternate method for setting H axis gain
Example 2 - Profiled Move
Objective: Rotate the X axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an
acceleration and deceleration rates of 100,000 counts/s2. In this example, the motor turns and stops:
Instruction Interpretation
PR 10000 Distance
SP 20000 Speed
DC 100000 Deceleration
AC 100000 Acceleration
BG X Start Motion
Example 3 - Multiple Axes
Objective: Move the four axes independently.
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