Galil Motion Control CDS-3310, Руководство пользователя

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CDS-3310 Chapter 7 Application Programming
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Example- Start Motion on Input
This example waits for input 1 to go low and then starts motion
.
NOTE:
The AI command actually halts execution of the program until the input occurs. If you do not
want to halt the program sequences, you can use the Input Interrupt function (II) or use a conditional
jump on an input, such as JP #GO,@IN[1] = -1.
Instruction Interpretation
#INPUT Program Label
AI-1 Wait for input 1 low
PR 10000 Position command
BGA Begin motion
EN End program
Example - Set Output when At Speed
Instruction Interpretation
#ATSPEED Program Label
JG 50000 Specify jog speed
AC 10000 Acceleration rate
BGA Begin motion
ASA Wait for at slew speed 50000
SB1 Set output 1
EN End program
Example - Multiple Move with Wait
This example makes multiple relative distance moves by waiting for each to be complete before
executing new moves.
Instruction Interpretation
#MOVES Label
PR 12000
Distance
SP 20000 Speed
AC 100000 Acceleration
BGA Start Motion
AD 10000 Wait a distance of 10,000 counts
SP 5000 New Speed
AMA Wait until motion is completed
WT 200 Wait 200 ms
PR -10000 New Position
SP 30000 New Speed
AC 150000 New Acceleration
BGA Start Motion
EN End