DC x,y,z,w
Specifies deceleration rate
IP x,y,z,w
Increments position instantly
IT x,y,z,w
Time constant for independent motion smoothing
JG +/-x,y,z,w
Specifies jog speed and direction
ST XYZW
Stops motion
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 DESCRIPTION
_ACx
Return acceleration rate for the axis specified by ‘x’
_DCx
Return deceleration rate for the axis specified by ‘x’
_SPx
Returns the jog speed for the axis specified by ‘x’
_TVx
Returns the actual velocity of the axis specified by ‘x’ (averaged over .25 sec)
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
Specify X,Z acceleration of 20000 cts / sec
DC 20000,,20000
Specify X,Z deceleration of 20000 cts / sec
JG 50000,,-25000
Specify jog speed and direction for X and Z axis
BG X
Begin X motion
AS X
Wait until X is at speed
BG Z
Begin Z motion
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 Label
JG0
Set in Jog Mode
BGX Begin
motion
#B
Label for loop
V1 =@AN[1]
Read analog input
VEL=V1*50000/10 Compute
speed
JG VEL
Change JG speed
JP #B
Loop
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
Chapter 6 Programming Motion
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