Galil Motion Control CDS-3310, User Manual

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CDS-3310 Chapter 6 Programming Motion
i
9
WT1000 Wait 1 sec (1000 msec)
CMA Specify contour mode on A axis
DT2 Set contour data rate to be 2
2
msec
i=0 Set array index to 0
#LOOP3 Subroutine to execute contour points
CD dx[i];WC Contour data command; Wait for next contour point
i=i+1 Update index
JP#LOOP3,i<500 Continue until all array elements have been executed
DT0 Set contour update rate to 0
CD0 Disable the contour mode (combination of DT0 and CD0)
EN End program
For additional information about automatic array capture, see Chapter 7, Arrays.
Virtual Axis
The CDS-3310 controller has an additional virtual axis designated as the N axis. This axis has no
encoder and no DAC. However, it can be commanded by the commands:
AC, DC, JG, SP, PR, PA, BG, IT, GA, ST, DP, RP
Dual Loop (Auxiliary Encoder)
The CDS-3310 provides an interface for a second encoder except when configured for output compare.
When used, the second encoder is typically mounted on the motor or the load, but may be mounted in
any position. The most common use for the second encoder is backlash compensation, described
below.
The second encoder may be a standard quadrature type, or it may provide pulse and direction. The
controller also offers the provision for inverting the direction of the encoder rotation. The main and
the auxiliary encoders are configured with the CE command. The command form is CE a,b,c,d (or
a,b,c,d,e,f,g,h for controllers with more than 4 axes) where the parameters a,b,c,d each equal the sum
of two integers m and n. m configures the main encoder and n configures the auxiliary encoder.
Using the CE Command
m= Main Encoder n= Second Encoder
0 Normal quadrature 0 Normal quadrature
1 Pulse & direction 4 Pulse & direction
2 Reverse quadrature 8 Reversed quadrature
3 Reverse pulse & direction 12 Reversed pulse & direction
For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of
pulse and direction, n=4, the total is 6, and the command for the A axis is
CE 6
Additional Commands for the Auxiliary Encoder
The command, DE a,b,c,d can be used to define the position of the auxiliary encoders. For example,
DE 0,500,-30,300