Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 6 Programming Motion
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IP A,B,C,D Changes position target
IT A,B,C,D Time constant for independent motion smoothing
AM ABCD Trippoint for profiler complete
MC ABCD Trippoint for "in position"
The CDS-3310 also allows use of single axis specifiers such as PRB=2000
Operand Summary - Independent Axis
OPERAND DESCRIPTION
_ACx Return acceleration rate for the axis specified by ‘x’
_DCx Return deceleration rate for the axis specified by ‘x’
_SPx Returns the speed for the axis specified by ‘x’
_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/sec2
Acceleration
B-Axis 1000 counts Position
15000 count/sec Speed
500000 counts/sec2
Acceleration
C-Axis 100 counts Position
5000 counts/sec Speed
500000 counts/sec 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.