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Chapter 6 Programming Motion
Overview
The DMC-21x5 provides several modes of motion, including independent positioning and jogging, coordinated
motion, electronic cam motion, and electronic gearing. Each one of these modes is discussed in the following
sections.
The DMC-2115 are single axis controllers and use A axis motion only. Likewise, the DMC-2125 use A and B, the
DMC-2135 use A, B, and C, and the DMC-2145 use A,B,C, and D. The DMC-2155 use A,B,C,D, and E. The DMC-2165
use A,B,C,D,E, and F. The DMC-2175 use A,B,C,D,E,F, and G. The DMC-2185 use the axes A,B,C,D,E,F,G, and H.
For controllers with 5 or more axes, the specifiers, ABCDEFGH, are used.
2185
EXAMPLE APPLICATION
Absolute or relative positioning where each axis
is independent and follows prescribed velocity
profile.
Velocity control where no final endpoint is
prescribed. Motion stops on Stop command.
Absolute positioning mode where absolute
position targets may be sent to the controller
while the axis is in motion.
Motion Path described as incremental position
points versus time.
2 to 8 axis coordinated motion where path is
described by linear segments.
2-D motion path consisting of arc segments and
linear segments, such as engraving or quilting.
Third axis must remain tangent to 2-D motion
path, such as knife cutting.
Electronic gearing where slave axes are scaled to
master axis which can move in both directions.
Master/slave where slave axes must follow a
master such as conveyer speed.
Moving along arbitrary profiles or
mathematically prescribed profiles such as sine
or cosine trajectories.
Teaching or Record and Play Back
Backlash Correction
Chapter 6 Programming Motion ▫ 36
MODE OF MOTION
Independent Axis Positioning
Independent Jogging
Position Tracking
Contour Mode
Linear Interpolation Mode
Vector Mode: Linear and Circular Interpolation
Motion
Vector Mode: Linear and Circular Interpolation
Motion with Tangent Motion:
Electronic Gearing
Electronic Gearing and Ramped Gearing
Contour Mode
Contour Mode with Teach (Record and Play-Back)
Dual Loop (Auxiliary Encoder)
COMMANDS
PA
PR
SP
AC
DC
,
,
,
,
JG
AC
DC
ST
,
,
,
PA
AC
DC
SP
PT
,
,
,
,
CM
CD
DT
,
,
LM
LI
LE
VS
VR
,
,
,
,
,
VD
VM
VP
CR
VS
VR
,
,
,
,
,
VD
VE
,
VM
VP
CR
VS
VA
VD
,
,
,
,
,
TN
VE
,
GA
GD
_GP
GR
GM
,
,
,
,
gantry)
GA
GD
_GP
GR
,
,
,
CM
CD
DT
,
,
CM
CD
DT
RA
RD
,
,
,
,
,
DV
DMC-21x5 User Manual 1.0a1
VA
,
VA
,
,
(if
RC
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