Download DMC-1300

Instruction
Interpretation
#DUALOOP
Label
CE 0
Configure encoder
DE0
Set initial value
PR 40000
Main move
BGX
Start motion
#Correct
Correction loop
AMX
Wait for motion completion
V1=10000-_DEX
Find linear encoder error
V2=-_TEX/4+V1
Compensate for motor error
JP#END,@ABS[V2]<2
Exit if error is small
PR V2*4
Correction move
BGX
Start correction
JP#CORRECT
Repeat
#END
EN
Command Summary - Using the Auxiliary Encoder
COMMAND
DESCRIPTION
CE
Configure Encoder Type
DE
Define dual (auxiliary) encoder posit ion
DV
Set continous dual loop mode - see description below
GA
Set master axis for gearing - the auxiliary encoder input can be used for gearing
GR
Set gear ratio for gearing - the auxiliary encoder input can be used for gearing
TD
Tell dual (auxiliary) encoder input position.
Operand Summary - Using the Auxiliary Encoder
DMC 1300
OPERAND
DESCRIPTION
_CEx
Contains the encoder configuration for the specified axis
_DEx
Contains the current position of the specified auxiliary encoder
_DVx
Contains a '1' or '0' if the specified axis is in continuous dual loop operation.
_GRx
Contains the value of the gear ratio for the specified axis
_TDx
Contains the position of the specified auxiliary encoder.
Chapter 6 Programming Motion • Error! Main Document Only. - 88