Stepper Position Maintenance Mode (SPM) ................................................................. 92
Dual Loop (Auxiliary Encoder) .................................................................................... 95
Motion Smoothing ....................................................................................................... 97
Homing ......................................................................................................................... 98
High Speed Position Capture (The Latch Function) .................................................... 101
Chapter 7 Application Programming 102
Overview ....................................................................................................................... 102
Program Format ............................................................................................................ 102
Executing Programs - Multitasking .............................................................................. 104
Debugging Programs .................................................................................................... 105
Program Flow Commands ............................................................................................ 106
Mathematical and Functional Expressions ................................................................... 121
Variables ....................................................................................................................... 124
Operands ....................................................................................................................... 125
Arrays ............................................................................................................................ 126
Input of Data (Numeric and String) .............................................................................. 129
Output of Data (Numeric and String) ........................................................................... 131
Hardware I/O ................................................................................................................ 135
Example Applications ................................................................................................... 139
Using the DMC Editor to Enter Programs (Advanced) ................................................ 143
Chapter 8 Hardware & Software Protection 145
Introduction ................................................................................................................... 145
Hardware Protection ..................................................................................................... 145
Software Protection ....................................................................................................... 146
Chapter 9 Troubleshooting 150
Overview ....................................................................................................................... 150
Chapter 10 Theory of Operation 153
Overview ....................................................................................................................... 153
Operation of Closed-Loop Systems .............................................................................. 154
System Modeling .......................................................................................................... 155
System Analysis ............................................................................................................ 159
System Design and Compensation ................................................................................ 161
Appendices 164
Electrical Specifications ................................................................................................ 164
Performance Specifications .......................................................................................... 166
Ordering Options .......................................................................................................... 167
Power Connector Part Numbers .................................................................................... 172
Cable Shielding ............................................................................................................. 173
Input Current Limitations ............................................................................................. 174
Pin-outs ......................................................................................................................... 175
Signal Descriptions ....................................................................................................... 179
List of Other Publications ............................................................................................. 181
Training Seminars ......................................................................................................... 181
Contacting Us ................................................................................................................ 182
WARRANTY ............................................................................................................... 182
Integrated Components 183
Overview ....................................................................................................................... 183
A1 – AMP-43040 (-D3040,-D3020) 185
Description .................................................................................................................... 185
Electrical Specifications ................................................................................................ 186
Operation ....................................................................................................................... 187
Error Monitoring and Protection ................................................................................... 189
A2 – AMP-43140 (-D3140) 191
Description .................................................................................................................... 191
DMC-41x3 User Manual Rev. 1.3g Contents ▫ iii
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