The Begin (BG) command can be issued for all axes either simultaneously or independently.
XYZ or W 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 or PA) cannot be changed until motion is complete.
Remember, motion is complete when 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 IP command, a revised
profile will be generated for motion towards the new end position. The IP command does not
require a begin. Note: If the motor is not moving, the IP command is equivalent to the PR and
BG command combination.
Command Summary - Independent Axis
COMMAND DESCRIPTION
PR X,Y,Z,W
Specifies relative distance
PA x,y,z,w
Specifies absolute position
SP x,y,z,w
Specifies slew speed
AC x,y,z,w
Specifies acceleration rate
DC x,y,z,w
Specifies deceleration rate
BG XYZW
Starts motion
ST XYZW
Stops motion before end of move
IP x,y,z,w
Changes position target
IT x,y,z,w
Time constant for independent motion smoothing
AM XYZW
Trippoint for profiler complete
MC XYZW
Trippoint for "in position"
The lower case specifiers (x,y,z,w) represent position values for each axis.
The DMC-1600 also allows use of single axis specifiers such as PRY=2000
74
•
Chapter 6 Programming Motion
DMC-1600
