User`s manual

Contents
viii Motion Mate™ DSM314 for Series 90™-30 PLCs User's Manual – January 2001 GFK-1742A
Home Switch Example...................................................................................6-2
Move+ and Move– Modes......................................................................................6-3
Move – (Minus) Home Cycle Example...........................................................6-4
Find Home Routine for Move + or Move –.....................................................6-4
Jogging with the DSM314 ............................................................................................6-5
Move at Velocity Command .........................................................................................6-5
Force Digital Servo Velocity Command (DIGITAL Servos) .........................................6-6
Force Analog Output Command (ANALOG Servos).....................................................6-6
Position Increment Commands......................................................................................6-7
Other Considerations ....................................................................................................6-7
Chapter 7 Programmed Motion....................................................................................... 7-1
Motion Program Command Types..................................................................7-2
Prerequisites for Programmed Motion...........................................................................7-4
Conditions That Stop a Motion Program.......................................................................7-4
Motion Program Basics................................................................................... 7-5
Number of Programs, Subroutines, and Statements.........................................7-5
Format...........................................................................................................7-5
Single-axis and multi-axis programs and subroutines ......................................7-5
Program and subroutine definition statements.................................................7-5
Block numbers and sync blocks......................................................................7-5
Motion Language Syntax and Commands...............................................................7-6
White space ..........................................................................................................7-6
Numeric Constants................................................................................................7-6
Comments ............................................................................................................7-6
Motion Program Key Words .................................................................................7-6
Variables ..............................................................................................................7-7
Separators.............................................................................................................7-7
Motion Program Commands.........................................................................................7-8
ACCEL..................................................................................................................7-8
Block Number........................................................................................................7-9
CALL.....................................................................................................................7-9
CMOVE............................................................................................................... 7-10
DWELL ...............................................................................................................7-10
ENDPROG ..........................................................................................................7-11
ENDSUB .............................................................................................................7-11
JUMP...................................................................................................................7-11
LOAD..................................................................................................................7-12
PMOVE ...............................................................................................................7-12
PROGRAM..........................................................................................................7-13
SUBROUTINE .................................................................................................... 7-14
Sync Block...........................................................................................................7-15
VELOC................................................................................................................7-15
WAIT...................................................................................................................7-16
Program and Subroutine Structure...............................................................................7-17