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DMC-2X00 Chapter 6 Programming Motion y 27
_PAx
Returns current destination if ‘x’ axis is moving, otherwise returns the current commanded
position if in a move.
_PRx Returns current incremental distance specified for the ‘x’ axis
Examples
Absolute Position Movement
Instruction Interpretation
PA 10000,20000 Specify absolute A,B position
AC 1000000,1000000 Acceleration for A,B
DC 1000000,1000000 Deceleration for A,B
SP 50000,30000 Speeds for A,B
BG AB Begin motion
Multiple Move Sequence
Required Motion Profiles:
A-Axis 500 counts Position
10000 count/sec Speed
500000 counts/sec
2
Acceleration
B-Axis 1000 counts Position
15000 count/sec Speed
500000 counts/sec
2
Acceleration
C-Axis 100 counts Position
5000 counts/sec Speed
500000 counts/sec
2
Acceleration
This example will specify a relative position movement on A, B and C axes. The movement on each
axis will be separated by 20 msec. Fig. 6.1 shows the velocity profiles for the A,B and C axis.
Instruction Interpretation
#A Begin Program
PR 2000,500,100
Specify relative position movement of 2000, 500 and 100 counts
for A,B and C axes.
SP 15000,10000,5000 Specify speed of 10000, 15000, and 5000 counts / sec
AC 500000,500000,500000 Specify acceleration of 500000 counts / sec
2
for all axes
DC 500000,500000,500000 Specify deceleration of 500000 counts / sec
2
for all axes
BG A Begin motion on the A axis
WT 20 Wait 20 msec
BG B Begin motion on the B axis
WT 20 Wait 20 msec
BG C Begin motion on C axis
EN End Program