Galil Motion Control CDS-3310, User Manual

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Chapter 1 Overview CDS-3310
General Use Digital Outputs......................................................................................22
Amp Enable...............................................................................................................22
Output Compare ........................................................................................................22
Error Output .............................................................................................................. 22
Brake Output .............................................................................................................23
Analog Output ...........................................................................................................23
Chapter 4 Communication 25
Introduction .............................................................................................................................25
RS232 Port...............................................................................................................................25
Ethernet Configuration ............................................................................................................25
Communication Protocols .........................................................................................25
Addressing.................................................................................................................25
Communicating with Multiple Devices (Handles) ....................................................26
Modbus...................................................................................................................... 27
Multicasting............................................................................................................... 28
Using Third Party Software....................................................................................... 28
Data Record .............................................................................................................................29
Data Record Map.......................................................................................................29
Explanation of Status and Axis Switch Information ................................................. 32
Notes Regarding Velocity and Torque Information ..................................................33
QZ Command ............................................................................................................33
Controller Response to Commands .........................................................................................33
Unsolicited Messages Generated by Controller....................................................................... 33
Galil Software Tools and Libraries..........................................................................................34
Chapter 5 Command Basics 35
Introduction .............................................................................................................................35
Command Syntax - ASCII.......................................................................................................35
Command Syntax - Binary ......................................................................................................37
Binary Command Format .......................................................................................... 37
Binary command table...............................................................................................38
Controller Response to DATA ................................................................................................39
Interrogating the Controller .....................................................................................................39
Interrogation Commands ...........................................................................................39
Summary of Interrogation Commands ......................................................................40
Interrogating Current Commanded Values................................................................40
Operands....................................................................................................................40
Chapter 6 Programming Motion 41
Overview .................................................................................................................................41
Independent Axis Positioning..................................................................................................42
Command Summary - Independent Axis ..................................................................42
Operand Summary - Independent Axis ..................................................................... 43
Examples ................................................................................................................... 43
Independent Jogging................................................................................................................44
Command Summary - Jogging..................................................................................45
Operand Summary - Independent Axis ..................................................................... 45
Examples ................................................................................................................... 45
Position Tracking.....................................................................................................................46
Example Motion 1:.................................................................................................... 47
Example Motion 2:.................................................................................................... 47
Example Motion 3:.................................................................................................... 48
Trip Points ................................................................................................................. 49