#MOTION;
Perform motion
SP16384;
Set the speed
PR10000;
Prepare mode of motion
BGX; Begin
motion
MCX
JS#CORRECT; Move
to
correction
#MOTION2
SP16384;
Set the speed
PR-10000;
Prepare mode of motion
BGX; Begin
motion
MCX
JS#CORRECT; Move
to
correction
JP#MOTION
#CORRECT; Correction
code
spx=_SPX
#LOOP;
Save speed value
SP2048;
Set a new slow correction speed
WT100; Stabilize
JP#END,@ABS[_QSX]<10; End correction if error is within defined tolerance
YRX=_QSX; Correction
move
MCX
WT100; Stabilize
JP#LOOP; Keep
correcting
until
error is within tolerance
#END;
End #CORRECT subroutine, returning to code
SPX=spx
EN
Dual Loop (Auxiliary Encoder)
The DMC-1600 provides an interface for a second encoder for each axis except for axes
configured for stepper motor operation and axis used in circular compare. 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 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.
Using the CE Command
m=
Main Encoder
n=
Second Encoder
0
Normal quadrature
0
Normal quadrature
1
Pulse & direction
4
Pulse & direction
2
Reverse quadrature
8
Reversed quadrature
DMC-1600
Chapter 6 Programming Motion
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