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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.
This example assigns the system filter parameters, Error Limits And Enables The Automatic Error
Shut-Off.
Instruction
KP10,10,10,10,10,10,10,10
KP10,10,10,10,10,10,10,10
KP*=10
KPX=10
KPA=10
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.
1080
Instruction
OE 1,1,1,1,1,1,1,1
ER*=1000
KP10,10,10,10,10,10,10,10
KP*=10
KPX=10
KPA=10
KPZ=10
KPD=10
KPH=10
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
PR 10000
SP 20000
DC 100000
AC 100000
BG X
Objective: Move the four axes independently.
18 • Chapter 2 Getting Started
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Example 1 - System Set-up
Interpretation
Set gains for a,b,c,d,e,f,g,and h axes
Set gains for a,b,c,d,e,f,g,and h axes
Alternate method for setting gain on all axes
Alternate method for setting X (or A) axis gain
Alternate method for setting A (or X) axis gain
Interpretation
Enable automatic Off on Error function for all axes
Set error limit for all axes to 1000 counts
Set gains for a,b,c,d,e,f,g,and h axes
Alternate method for setting gain on all axes
Alternate method for setting X (or A) axis gain
Alternate method for setting A (or X) axis gain
Alternate method for setting Z axis gain
Alternate method for setting D axis gain
Alternate method for setting H axis gain
Example 2 - Profiled Move
Interpretation
Distance
Speed
Deceleration
Acceleration
Start Motion
Example 3 - Multiple Axes
DMC-1000
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