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Following a trajectory based on a master
encoder position
Smooth motion while operating in independent
axis positioning
Smooth motion while operating in vector or
linear interpolation positioning
Smooth motion while operating with stepper
motors
Gantry - two axes are coupled by gantry
Independent Axis Positioning
In this mode, motion between the specified axes is independent, and each axis follows its own profile. The user
specifies the desired absolute position (PA) or relative position (PR), slew speed (SP), acceleration ramp (AC), and
deceleration ramp (DC), for each axis. On begin (BG), the DMC-21x5 profiler generates the corresponding
trapezoidal or triangular velocity profile and position trajectory. The controller determines a new command
position along the trajectory every sample period until the specified profile is complete. Motion is complete when
the last position command is sent by the DMC-21x5 profiler.
Note: The actual motor motion may not be complete when the profile has been completed, however, the next
motion command may be specified.
The Begin (BG) command can be issued for all axes either simultaneously or independently. ABC or D axis specifiers
are required to select the axes for motion. When no axes are specified, this causes motion to begin on all axes.
The speed (SP) and the acceleration (AC) can be changed at any time during motion, however, the deceleration
(DC) and position
(PR
the profiler is finished, not when the actual motor is in position. The Stop command (ST) can be issued at any time
to decelerate the motor to a stop before it reaches its final position.
An incremental position movement (IP) may be specified during motion as long as the additional move is in the
same direction. Here, the user specifies the desired position increment, n. The new target is equal to the old target
plus the increment, n. Upon receiving the
new end position. The
equivalent to the
PR
and
Command Summary - Independent Axis
The DMC-21x5 also allows use of single axis specifiers such as
Chapter 6 Programming Motion ▫ 37
Electronic Cam
Motion Smoothing
Motion Smoothing
Stepper Motion Smoothing
Electronic Gearing - Example - Gantry Mode
or PA) cannot be changed until motion is complete. Remember, motion is complete when
command, a revised profile will be generated for motion towards the
IP
IP
command does not require a begin. If the motor is not moving, the
BG
command combination.
COMMAND
PR
Specifies relative distance
PA
Specifies absolute position
SP
Specifies slew speed
Specifies acceleration rate
AC
DC
Specifies deceleration rate
BG
Starts motion
ST
Stops motion before end of move
Changes position target
IP
IT
Time constant for independent motion smoothing
AM
Trippoint for profiler complete
MC
Trippoint for "in position"
Table 6.1: List of commands related to independent motion
DESCRIPTION
PRB=2000
EA
EM
EP
ET
EB
,
,
,
,
,
EG
EQ
,
IT
IT
KS
GR
GM
,
IP
command is
DMC-21x5 User Manual 1.0a1
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