Selecting Address 142–43, 164, 191, 201
Clear Bit 150
Servo Design Kit
Set Bit 150
SDK 117
Set Bit 150
P
Sine 74, 94, 138
PID 18, 168, 178
Single-Ended 5, 15, 18
Play Back 74, 144
Slew 74, 89, 112, 125, 127, 153
Plug and Play 1
Smoothing 74, 79, 81, 85, 87, 111–12
POSERR 120, 133–34, 160–61
Software
Position Error 17, 120, 133–34, 140, 143, 153, 158
SDK 117
Position Capture 115
Terminal 65
Latch 70, 115
Special Label 119, 161
Teach 100
Specification 79–80, 86
Position Error 15, 17, 38, 110, 120, 133–34, 140,
143, 153, 158, 159–61, 164, 167
Stability 109–10, 158, 163–64, 168, 174
Stack 132, 135, 152
POSERR 120, 133–34
Zero Stack 135, 152
Position Follow 152–53
Status 65, 70, 81, 123–24, 140, 143
Position Limit 160
Interrogation 69–70, 81, 88, 145, 147
Program Flow 119, 124
Stop Code 70, 143, 164
Interrupt 56, 119–21, 127, 133–34, 151–52
Tell Code 69
Stack 132, 135, 152
Step Motor
Programmable 139–40, 150, 157, 160
KS, Smoothing 74, 79, 81, 85, 87, 111–12
EEPROM 3
Stepper Position Maintenance 104
Programming
Stop
Halt 79, 121–25, 127–28, 151
Abort
33–34, 60, 79, 85, 159, 161, 179, 182–83
Proportional Gain 168
Stop Code 54, 70, 133, 140, 143–45, 143, 153–54,
156–58, 164
Protection
Error Limit 15, 17, 38, 133, 159–61
Stop Motion 79, 85, 135, 162
Torque Limit 17
Subroutine 33, 84, 120, 128–35, 152, 160–61
PWM 4
Automatic Subroutine 133
Synchronization 5, 91
Syntax 65–66
Q
Quadrature 5, 108, 150, 153, 160, 171
T
Quit
Abort
33–34, 60, 79, 85, 159, 161, 179, 182–83
Tangent 74, 84, 86–87
Stop Motion 79, 85, 135, 162
Teach 100
Data Capture 142–43
Latch 70, 115
R
Play-Back 74, 144
Record 74, 98, 100, 141, 144
Position Capture 115
Latch 70, 115
Record 74, 98, 100, 141, 144
Position Capture 115
Tell Code 69
Teach 100
Tell Error 70
Register 140
Position Error 17, 120, 133–34, 140, 143, 153, 158
Reset 33, 60, 128, 159, 161
Tell Position 70
Tell Torque 70
Terminal 33, 37, 65, 117, 140, 146
S
Theory 165
SB
Damping 164, 168
Set Bit 150
Digital Filter 65, 172–73, 175–77
Scaling
Modelling 165, 168–69, 173
Ellipse Scale 87
PID 18, 168, 178
S-Curve 79, 111
Stability 109–10, 158, 163–64, 168, 174
Motion Smoothing 74, 111
Time
SDK 117
Clock 141
DMC-1600
•
205
