DP 0,2000 Define the current positions of A,B as 0 and 2000
PA 7000,4000 Sets the desired absolute positions
BG A Start A motion
BG B Start B motion
After both motions are complete, the A and B axes can be command back to zero:
PA 0,0 Move to 0,0
BG AB Start both motions
Example 7 - Velocity Control
Objective: Drive the A and B motors at specified speeds.
Instruction Interpretation
JG 10000,-20000 Set Jog Speeds and Directions
AC 100000, 40000 Set accelerations
DC 50000,50000 Set decelerations
BG AB Start motion
after a few seconds, command:
JG -40000 New A speed and Direction
TV A Returns A speed
and then
JG ,20000 New B speed
TV B Returns B speed
These cause velocity changes including direction reversal. The motion can be stopped with the instruction
ST Stop
Example 8 - Operation Under Torque Limit
The magnitude of the motor command may be limited independently by the instruction TL.
Instruction Interpretation
TL 0.2 Set output limit of A axis to 0.2 volts
JG 10000 Set A speed
BG A Start A motion
In this example, the A motor will probably not move since the output signal will not be sufficient to overcome the
friction. If the motion starts, it can be stopped easily by a touch of a finger.
Increase the torque level gradually by instructions such as
Instruction Interpretation
TL 1.0 Increase torque limit to 1 volt.
TL 9.998 Increase torque limit to maximum, 9.998 volts.
The maximum level of 9.998 volts provides the full output torque.
Example 9 - Interrogation
The values of the parameters may be interrogated. Some examples …
Instruction Interpretation
Chapter 2 Getting Started • 27 DMC-40x0 User Manual
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