The DMC-1600 position parameters such as PR, PA and VP have units of quadrature counts.
Speed parameters such as SP, JG and VS have units of counts/sec. Acceleration parameters such
as AC, DC, VA and VD have units of counts/sec2. The controller interprets time in milliseconds.
All input parameters must be converted into these units. For example, an operator can be
prompted to input a number in revolutions. A program could be used such that the input number
is converted into counts by multiplying it by the number of counts/revolution.
Example:
#RUN Label
IN "ENTER # OF REVOLUTIONS",N1 Prompt for revs
PR N1*2000
Convert to counts
IN "ENTER SPEED IN RPM",S1
Prompt for RPMs
SP S1*2000/60
Convert to counts/sec
IN "ENTER ACCEL IN RAD/SEC2",A1 Prompt for ACCEL
AC A1*2000/(2*3.14)
Convert to counts/sec2
BG Begin
motion
EN End
program
Programmable Hardware I/O
Digital Outputs
The DMC-1600 has an 8-bit uncommitted output port for controlling external events. The
DMC-1650 through DMC-1680 has an additional 8 outputs. The DMC-1600 has an additional 64
I/O (configured as inputs or outputs with CO command). Each bit on the output port may be set
and cleared with the software instructions SB (Set Bit) and CB(Clear Bit), or OB (define output
bit).
For example:
Instruction Function
SB6
Sets bit 6 of output port
CB4
Clears bit 4 of output port
The Output Bit (OB) instruction is useful for setting or clearing outputs depending on the value of
a variable, array, input or expression. Any non-zero value results in a set bit.
Instruction
Function
OB1, POS
Set Output 1 if the variable POS is non-zero. Clear Output 1 if POS equals 0.
OB 2, @IN [1]
Set Output 2 if Input 1 is high. If Input 1 is low, clear Output 2.
OB 3, @IN [1]&@IN [2]
Set Output 3 only if Input 1 and Input 2 are high.
OB 4, COUNT [1]
Set Output 4 if element 1 in the array COUNT is non-zero.
The output port can be set by specifying an 8-bit word using the instruction OP (Output Port).
This instruction allows a single command to define the state of the entire 8-bit output port, where
20 is output 1, 21 is output 2 and so on. A 1 designates that the output is on.
For example:
Instruction Function
DMC-1600
Chapter 7 Application Programming
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