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DC x,y,z,w
IP x,y,z,w
IT x,y,z,w
JG +/-x,y,z,w
ST XYZW
Parameters can be set with individual axes specifiers such as JGY=2000 (set jog speed for Y axis
to 2000) or ACYH=400000 (set acceleration for Y and H axes to 400000).
Operand Summary - Independent Axis
OPERAND
_ACx
_DCx
_SPx
_TVx
Example - Jog in X only
Jog X motor at 50000 count/s. After X motor is at its jog speed, begin jogging Z in reverse
direction at 25000 count/s.
#A
AC 20000,,20000
DC 20000,,20000
JG 50000,,-25000
BG X
AS X
BG Z
EN
Example - Joystick Jogging
The jog speed can also be changed using an analog input such as a joystick. Assume that for a 10
Volt input the speed must be 50000 counts/sec.
#JOY
JG0
BGX
#B
V1 =@AN[1]
VEL=V1*50000/10
JG VEL
JP #B
Linear Interpolation Mode
The DMC-1600 provides a linear interpolation mode for 2 or more axes. In linear interpolation
mode, motion between the axes is coordinated to maintain the prescribed vector speed,
acceleration, and deceleration along the specified path. The motion path is described in terms of
DMC-1600
Specifies deceleration rate
Increments position instantly
Time constant for independent motion smoothing
Specifies jog speed and direction
Stops motion
DESCRIPTION
Return acceleration rate for the axis specified by 'x'
Return deceleration rate for the axis specified by 'x'
Returns the jog speed for the axis specified by 'x'
Returns the actual velocity of the axis specified by 'x' (averaged over .25 sec)
Specify X,Z acceleration of 20000 cts / sec
Specify X,Z deceleration of 20000 cts / sec
Specify jog speed and direction for X and Z axis
Begin X motion
Wait until X is at speed
Begin Z motion
Label
Set in Jog Mode
Begin motion
Label for loop
Read analog input
Compute speed
Change JG speed
Loop
Chapter 6 Programming Motion • 77
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