Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 1 Overview
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iii
Command Summary – Position Tracking Mode .......................................................49
Electronic Gearing ...................................................................................................................50
Ramped Gearing ......................................................................................................................50
Example – Electronic Gearing Over a Specified Interval.......................................... 51
Command Summary - Electronic Gearing ................................................................52
Electronic Cam ........................................................................................................................53
Contour Mode............................................................................................................................4
Specifying Contour Segments .....................................................................................4
Additional Commands.................................................................................................5
Command Summary - Contour Mode .........................................................................6
General Velocity Profiles ............................................................................................6
Example....................................................................................................................... 6
Virtual Axis ...............................................................................................................................9
Dual Loop (Auxiliary Encoder).................................................................................................9
Additional Commands for the Auxiliary Encoder.......................................................9
Backlash Compensation ............................................................................................ 10
Example..................................................................................................................... 10
Motion Smoothing ...................................................................................................................11
Using the IT Command: ............................................................................................ 11
Example..................................................................................................................... 12
Homing ....................................................................................................................................13
Example..................................................................................................................... 13
Command Summary - Homing Operation.................................................................15
Operand Summary - Homing Operation....................................................................15
High Speed Position Capture (The Latch Function) ................................................................ 15
Example..................................................................................................................... 15
Chapter 7 Application Programming 16
Overview .................................................................................................................................16
Using the DOS Editor to Enter Programs ................................................................................16
Edit Mode Commands............................................................................................... 17
Example..................................................................................................................... 17
Program Format .......................................................................................................................18
Using Labels in Programs .........................................................................................18
Special Labels............................................................................................................18
Commenting Programs..............................................................................................19
Executing Programs - Multitasking .........................................................................................19
Debugging Programs ...............................................................................................................20
Trace Command ........................................................................................................ 20
Error Code Command................................................................................................21
Stop Code Command.................................................................................................21
RAM Memory Interrogation Commands ..................................................................21
Operands....................................................................................................................21
Example..................................................................................................................... 22
Program Flow Commands .......................................................................................................22
Event Triggers & Trippoints......................................................................................22
Conditional Jumps.....................................................................................................26
IF, ELSE, AND ENDIF.............................................................................................28
Subroutines................................................................................................................ 29
Stack Manipulation....................................................................................................30
Auto-Start Routine ....................................................................................................30
Automatic Subroutines for Monitoring Conditions ...................................................30
Mathematical and Functional Expressions ..............................................................................35
Mathematical Operators ............................................................................................ 35
Bit-Wise Operators.................................................................................................... 35