Galil Motion Control CDS-3310, Руководство пользователя

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Chapter 6 Programming Motion CDS-3310
PA 0;BGX;AMX Go to position 0,0 on X axis
EA N N axis as the Master for ECAM
EM 4000,0 Change for N is 4000, zero for X
EP400,0 ECAM interval is 400 counts with zero start
ET[0]=0 When master is at 0 position; 1st point.
ET[1]=20 2nd point in the ECAM table
ET[2]=60 3rd point in the ECAM table
ET[3]=120 4th point in the ECAM table
ET[4]=140 5th point in the ECAM table
ET[5]=140 6th point in the ECAM table
ET[6]=140 7th point in the ECAM table
ET[7]=120 8th point in the ECAM table
ET[8]=60 9th point in the ECAM table
ET[9]=20 10th point in the ECAM table
ET[10]=0 Starting point for next cycle
EB 1 Enable ECAM mode
JGN=4000 Set N to jog at 4000
EG 0 Engage X when Master = 0
BGX Begin jog on N axis
#LOOP;JP#LOOP,V1=0 Loop until the variable is set
EQ,2000 Disengage X when Master = 2000
MF2000 Wait until the Master goes to 2000
ST N Stop the N axis motion
EB 0 Exit the ECAM mode
EN End of the program
Contour Mode
The CDS-3310 also provides a contouring mode. This mode allows any arbitrary position curve to be
prescribed for 1 to 8 axes. This is ideal for following computer generated paths such as parabolic,
spherical or user-defined profiles. The path is not limited to straight line and arc segments and the path
length may be infinite.
Specifying Contour Segments
The Contour Mode is specified with the command, CM. For example, CMAC specifies contouring on
the A and C axes. Any axes that are not being used in the contouring mode may be operated in other
modes.
A contour is described by position increments which are described with the command, CD a,b,c,d over
a time interval, DT n. The parameter, n, specifies the time interval. The time interval is defined as 2
n
ms, where n is a number between 1 and 8. The controller performs linear interpolation between the
specified increments, where one point is generated for each millisecond.
Consider, for example, the trajectory shown in Fig. 6.6. The position A may be described by the
points:
Point 1 A=0 at T=0ms