Galil Motion Control CDS-3310, Руководство пользователя

Страница: 23 / 166

CDS-3310 Chapter 2 Getting Started
i
15
Design Examples
Here are a few examples for tuning and using your controller. These examples have remarks next to
each command - these remarks must not be included in the actual program. Burn programs to
EEPROM with the BP command.
System Set-up
This example assigns the proportional gain, error limit and enables the automatic error shut-off.
Instruction Interpretation
KP10 Method for setting only A axis gain
OE 1 Enable automatic Off on Error function
ER1000 Set error limit to 1000 counts
Profiled Move
Rotate the axis a distance of 10,000 counts at a slew speed of 20,000 counts/sec and an acceleration
and deceleration rates of 100,000 counts/s2. In this example, the motor turns and stops:
Instruction Interpretation
PR1000 Distance
SP20000 Speed
DC 100000
Deceleration
AC 100000 Acceleration
BG Start Motion
Position Interrogation
The position of the axis may be interrogated with the instruction, TP.
Instruction Interpretation
TP Tell position
The position error, which is the difference between the commanded position and the actual position
can be interrogated with the instruction TE.
Instruction Interpretation
TE Tell error
Absolute Position
Objective: Command motion by specifying the absolute position.
Instruction Interpretation
DP 2000 Define the current positions as 2000
PA 7000 Sets the desired absolute position
BG Start A motion
After motion is complete, the axis can be command back to zero:
PA 0 Move to 0
BG Start motion