Galil Motion Control CDS-3310, User Manual

Page: 57 / 166

CDS-3310 Chapter 6 Programming Motion
i
49
Figure 6 Velocity cts/sec vs. Time (msec) with IT
Note the controller treats the point where the velocity passes through zero as the end of one move, and
the beginning of another move. IT is allowed, however it will introduce some time delay.
Trip Points
Most trip points are valid for use while in the position tracking mode. There are a few exceptions to
this; the AM and MC commands may not be used while in this mode. It is recommended that MF,
MR, or AP be used, as they involve motion in a specified direction, or the passing of a specific
absolute position.
Command Summary – Position Tracking Mode
COMMAND DESCRIPTION
AC n,n,n,n,n,n,n,n Acceleration settings for the specified axes
AP n,n,n,n,n,n,n,n Trip point that holds up program execution until an absolute position has been reached
DC n,n,n,n,n,n,n,n Deceleration settings for the specified axes
MF n,n,n,n,n,n,n,n Trip point to hold up program execution until n number of counts have passed in the
forward direction. Only one axis at a time may be specified.
MR n,n,n,n,n,n,n,n Trip point to hold up program execution until n number of counts have passed in the
reverse direction. Only one axis at a time may be specified.
PT n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode
PA n,n,n,n,n,n,n,n Command Used to specify the absolute position target
SP n,n,n,n,n,n,n,n Command used to enter and exit the Trajectory Modification Mode