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DX[I]=XPOS[I+1]-XPOS[I]
I=I+1
JP#LOOP2,I<500
#PLAYBK
SHX
WT1000
CMX
DT2
I=0
#LOOP3
CD DX[I];WC
I=I+1
JP#LOOP3,I<500
DT0
CD0
EN
For additional information about automatic array capture, see Chapter 7, Arrays.
Stepper Motor Operation
When configured for stepper motor operation, several commands are interpreted differently than from
servo mode. The following describes operation with stepper motors.
In order to command stepper motor operation, the appropriate stepper mode jumpers must be installed.
See chapter 2 for this installation.
Stepper motor operation is specified by the command MT. The argument for MT is as follows:
2 specifies a stepper motor with active low step output pulses
-2 specifies a stepper motor with active high step output pulses
2.5 specifies a stepper motor with active low step output pulses and reversed direction
-2.5 specifies a stepper motor with active high step output pulse and reversed direction
The command, KS, provides stepper motor smoothing. The effect of the smoothing can be thought of
as a simple Resistor-Capacitor (single pole) filter. The filter occurs after the motion profiler and has
the effect of smoothing out the spacing of pulses for a more smooth operation of the stepper motor.
Use of KS is most applicable when operating in full step or half step operation. KS will cause the step
pulses to be delayed in accordance with the time constant specified.
When operating with stepper motors, you will always have some amount of stepper motor smoothing,
KS. Since this filtering effect occurs after the profiler, the profiler may be ready for additional moves
before all of the step pulses have gone through the filter. It is important to consider this effect since
steps may be lost if the controller is commanded to generate an additional move before the previous
move has been completed. See the discussion below, Monitoring Generated Pulses vs Commanded
Pulses.
DMC-1000
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Calculate difference
Update loop counter
Continue looping until DX is full
Routine to play back motion that was recorded
Servo Here
Wait 1 sec (1000 msec)
Specify contour mode on X axis
Set contour data rate to be 2 msec
Set array index to 0
Subroutine to execute contour points
Contour data command; Wait for next contour point
Update index
Continue until all array elements have been executed
Set contour update rate to 0
Disable the contour mode (combination of DT0 and CD0)
End program
Specifying Stepper Motor Operation
Stepper Motor Smoothing
Chapter 6 Programming Motion • 71
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