EDH0162En1040 – 06/99
iv
MM4005
Table of Contents
Section 3 — Remote Mode
Table of Contents ...................................................................................3.1
3.1
Remote Interfaces ..................................................................................3.3
3.1.1 RS-232-C Interface........................................................................3.4
3.1.2 IEEE-488 Interface........................................................................3.4
3.2
Softwares.................................................................................................3.4
3.2.1 MOTION Suite ..............................................................................3.5
3.2.2 MOTION Term .............................................................................3.5
3.2.3 MOTION Servo .............................................................................3.6
3.2.4 MOTION Draw..............................................................................3.6
3.2.5 MOTION Prog...............................................................................3.6
3.3
Communication Principles....................................................................3.6
3.3.1 Command Syntax.........................................................................3.7
3.4
Command Summary...............................................................................3.8
3.4.1 Command List by Category........................................................3.8
3.4.2 Command List — Alphabetical................................................3.13
Section 4 — Motion Control Tutorial
Table of Contents ...................................................................................4.1
4.1 Motion Systems ......................................................................................4.3
4.2 Specification Definitions........................................................................4.4
4.2.1 Following Error ............................................................................4.4
4.2.2 Error..............................................................................................4.5
4.2.3 Accuracy.......................................................................................4.5
4.2.4 Local Accuracy ............................................................................4.6
4.2.5 Resolution ....................................................................................4.6
4.2.6 Minimum Incremental Motion ...................................................4.7
4.2.7 Repeatability ................................................................................4.8
4.2.8 Backlash (Hysteresis) .................................................................4.8
4.2.9 Pitch, Roll and Yaw .....................................................................4.9
4.2.10 Wobble........................................................................................4.10
4.2.11 Load Capacity ............................................................................4.10
4.2.12 Maximum Velocity ....................................................................4.11
4.2.13 Minimum Velocity .....................................................................4.11
4.2.14 Velocity Regulation ...................................................................4.12
4.2.15 Maximum Acceleration.............................................................4.12
4.2.16Combined Parameters ...............................................................4.12
4.3 Control Loops .......................................................................................4.13
4.3.1 PID Servo Loops ........................................................................4.13
4.3.2 Feed-Forward Loops .................................................................4.15
4.4 Motion Profiles .....................................................................................4.17
4.4.1 Move ...........................................................................................4.17
4.4.2 Jog ...............................................................................................4.18
4.4.3 Home Search ..............................................................................4.18
4.5 Encoders................................................................................................4.21
4.6 Motors ...................................................................................................4.23
4.6.1 Stepper Motors..........................................................................4.24
4.6.2 DC Motors ..................................................................................4.28
4.7 Drivers ...................................................................................................4.29
4.7.1 Stepper Motor Drivers..............................................................4.29
4.7.2 DC Motor Drivers ......................................................................4.31
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