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Instruction
KP ?
KP ,,?
KP ?,?,?,?
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes
all commands which can be interrogated.
The instructions may be buffered before execution as shown below.
Instruction
PR 600000
SP 10000
WT 10000
BG X
Motion programs may be edited and stored in the controllers on-board memory.
The instruction
ED
moves the operation to the editor mode where the program may be written and edited. The editor
provides the line number. For example, in response to the first ED command, the first line is zero.
LINE # INSTRUCTION
000
001
002
003
004
To exit the editor mode, input <cntrl>Q. The program may be executed with the command.
XQ #A
Motion programs may include conditional jumps as shown below.
Instruction
#A
DP 0
V1=1000
#Loop
PA V1
BG X
AM X
DMC-1000
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Interpretation
Return gain of X axis.
Return gain of Z axis.
Return gains of all axes.
Example 10 - Operation in the Buffer Mode
Interpretation
Distance
Speed
Wait 10000 milliseconds before reading the next instruction
Start the motion
Example 11 - Motion Programs
Edit mode
INTERPRETATION
#A
Define label
PR 700
Distance
SP 2000
Speed
BGX
Start X motion
EN
End program
Start the program running
Example 12 - Motion Programs with Loops
Interpretation
Label
Define current position as zero
Set initial value of V1
Label for loop
Move X motor V1 counts
Start X motion
After X motion is complete
Chapter 2 Getting Started • 21
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