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Note: Closed loop operation with a stepper motor is not possible.
COMMAND
DE
DP
IT
KS
MT
RP
TD
TP
OPERAND
_DEx
_DPx
_ITx
_KS
_MT
_RP
_TD
_TP
Dual Loop (Auxiliary Encoder)
The DMC-1000 provides an interface for a second encoder for each axis except for axes configured
for stepper motor operation. When used, the second encoder is typically mounted on the motor or the
load, but may be mounted in any position. The most common use for the second encoder is backlash
compensation, described below.
The auxiliary encoder may also be used for gearing. In this case, the auxiliary encoder input is used to
monitor an encoder which is not under control of the DMC-1000. To use the auxiliary encoder for
gearing, the master axis is specified as the auxiliary encoder and GR is used to specify the gear ratios.
For more information, see previous section Electronic Gearing on page 58.
The second encoder may be a standard quadrature type, or it may provide pulse and direction. The
controller also offers the provision for inverting the direction of the encoder rotation. The main and
the auxiliary encoders are configured with the CE command. The command form is CE x,y,z,w (or
a,b,c,d,e,f,g,h for controllers with more than 4 axes) where the parameters x,y,z,w each equal the sum
of two integers m and n. m configures the main encoder and n configures the auxiliary encoder.
m=
Main Encoder
0
Normal quadrature
DMC-1000
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Command Summary - Stepper Motor Operation
DESCRIPTION
Define Encoder Position (When using an encoder)
Define Reference Position and Step Count Register
Motion Profile Smoothing - Independent Time Constant
Stepper Motor Smoothing
Motor Type (2,-2,2.5 or -2.5 for stepper motors)
Report Commanded Position
Report number of step pulses generated by controller
Tell Position of Encoder
Operand Summary - Stepper Motor Operation
DESCRIPTION
Contains the value of the step count register
Contains the value of the main encoder
Contains the value of the Independent Time constant for the 'x' axis
Contains the value of the Stepper Motor Smoothing Constant for the 'x' axis
Contains the motor type value for the 'x' axis
Contains the commanded position generated by the profiler
Contains the value of the step count register
Contains the value of the main encoder
Using the CE Command
n=
0
Second Encoder
Normal quadrature
Chapter 6 Programming Motion • 73
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