Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 7 Application Programming
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_DA *Returns the number of arrays available
_DL *Returns the number of available labels for programming
_DM *Returns the available array memory
_HMn *Returns status of Home Switch of axis ‘n’ (equals 0 or 1)
_LFn Returns status of Forward Limit switch input of axis ‘n’ (equals 0 or 1)
_LRn Returns status of Reverse Limit switch input of axis ‘n’ (equals 0 or 1)
_UL *Returns the number of available variables
TIME Free-Running Real Time Clock (off by 2.4% - Resets with power-on).
NOTE:
TIME does not use an underscore character (_) as other keywords.
*These keywords have corresponding commands while the keywords _LF, _LR, and TIME do not
have any associated commands. All keywords are listed in the Command Reference.
v1=_LFA Assign v1 the state of the Forward Limit Switch on the A-axis
v3=TIME Assign v3 the current value of the time clock
v4=_HMD Assign v4 the logical state of the Home input on the D-axis
Arrays
For storing and collecting numerical data, the CDS-3310 provides array space for 8000 elements. The
arrays are one dimensional and up to 30 different arrays may be defined. Each array element has a
numeric range of 4 bytes of integer (2
31
)followed by two bytes of fraction (+/-2,147,483,647.9999).
Arrays can be used to capture real-time data, such as position and torque values. In the contouring
mode, arrays are convenient for holding the points of a position trajectory in a record and playback
application.
Defining Arrays
An array is defined with the command DM. The user must specify a name and the number of entries
to be held in the array. An array name can contain up to eight characters, starting with an uppercase
alphabetic character. The number of entries in the defined array is enclosed in [ ].
DM posA[7] Defines an array names posA with seven entries
DM speed[100] Defines an array named speed with 100 entries
DM posA[0] Frees array space
Assignment of Array Entries
Like variables, each array element can be assigned a value. Assigned values can be numbers or
returned values from instructions, functions and keywords.
Array elements are addressed starting at count 0. For example the first element in the posA array
(defined with the DM command, DM posA[7]) would be specified as posA[0].
Values are assigned to array entries using the equal sign. Assignments are made one element at a time
by specifying the element number with the associated array name.
NOTE: Arrays must be defined using the command, DM, before assigning entry values.