Galil Motion Control CDS-3310, Руководство пользователя

Страница: 108 / 166

CDS-3310 Chapter 7 Application Programming
i
47
PR 1000 Position Command
BGX Begin
AMX After
Motion
v1=_TPA Assign Variable v1
posA[1]=_TPA Assign the first entry
v1= Print v1
Interrogation Commands
The CDS-3310 has a set of commands that directly interrogate the controller. When these command are
entered, the requested data is returned in decimal format on the next line followed by a carriage return
and line feed. The format of the returned data can be changed using the Position Format (PF), and
Leading Zeros (LZ) command. For a complete description of interrogation commands, see Chapter 5.
Using PF to Format Response from Interrogation Commands
The command, PF, can change format of the values returned by theses interrogation commands:
BL ? LE ?
DE ? PA ?
DP ? PR ?
FL ? TN ?
IP ? VE ?
TP TE
The numeric values may be formatted in decimal or hexadecimal* with a specified number of digits to
the right and left of the decimal point using the PF command.
Position Format is specified by:
PF m.n
where m is the number of digits to the left of the decimal point (0 thru 10) and n is the number of digits
to the right of the decimal point (0 thru 4) A negative sign for m specifies hexadecimal format.
*Hex values are returned preceded by a $ and in 2's complement. Hex values should be input as signed
2's complement, where negative numbers have a negative sign. The default format is PF 10.0.
If the number of decimal places specified by PF is less than the actual value, a nine appears in all the
decimal places.
Example
Instruction Interpretation
:DP21 Define position
:TPA Tell position
0000000021 Default format
:PF4 Change format to 4 places
:TPA Tell position
0021 New format
:PF-4 Change to hexadecimal format
:TPA Tell Position
$0015 Hexadecimal value
:PF2 Format 2 places