Moving along arbitrary profiles or
mathematically prescribed profiles such as sine
or cosine trajectories.
Contour Mode
CM, CD, DT
Teaching or Record and Play Back Contour Mode with Teach (Record and Play-Back)
CM, CD, DT, RA, RD, RC
Backlash Correction Dual Loop (Auxiliary Encoder)
DV
Following a trajectory based on a master
encoder position
Electronic Cam
EA, EM, EP, ET, EB,
EG, EQ
Smooth motion while operating in independent
axis positioning
Motion Smoothing
IT
Smooth motion while operating in vector or
linear interpolation positioning
Motion Smoothing
IT
Smooth motion while operating with stepper
motors
Stepper Motion Smoothing
KS
Gantry - two axes are coupled by gantry Electronic Gearing - Example - Gantry Mode
GR, GM
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-41x3 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-41x3 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. XYZ or W 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 begin. Note: If the motor is not moving, the IP
command is equivalent to the PR and BG command combination.
Command Summary - Independent Axis
COMMAND DESCRIPTION
PR x,y,z,w
Specifies relative distance
PA x,y,z,w
Specifies absolute position
SP x,y,z,w
Specifies slew speed
AC x,y,z,w
Specifies acceleration rate
DC x,y,z,w
Specifies deceleration rate
BG XYZW
Starts motion
ST XYZW
Stops motion before end of move
IP x,y,z,w
Changes position target
IT x,y,z,w
Time constant for independent motion smoothing
AM XYZW
Trippoint for profiler complete
MC XYZW
Trippoint for “in position”
Chapter 6 Programming Motion ▫ 57 DMC-41x3 User Manual
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