Velocity Control; Operation Under Torque Limit; Interrogation; Motion Programs With Loops - Galil Motion Control CDS-3310 User Manual

Velocity Control

Objective: Drive the motor at specified speeds.
after a few seconds, command:
These cause velocity changes including direction reversal. The motion can be stopped with the
instruction

Operation Under Torque Limit

The magnitude of the motor command may be limited independently by the instruction TL.
In this example, the A motor will probably not move since the output signal will not be sufficient to
overcome the friction. If the motion starts, it can be stopped easily by a touch of a finger.
Increase the torque level gradually by instructions such as
The maximum level of 9.998 volts provides the full output torque.

Interrogation

The values of the parameters may be interrogated. Some examples ...
Many other parameters such as KI, KD, FA, can also be interrogated. The command reference denotes
all commands which can be interrogated.

Motion Programs with Loops

Motion programs may include conditional jumps as shown below.
i
16 Chapter 2 Getting Started
Instruction Interpretation
JG20000 Set Jog Speed and Direction
AC 100000 Set acceleration
DC 50000 Set deceleration
BG Start motion
JG -40000 New A speed and Direction
TV Returns A speed
ST Stop
Instruction Interpretation
TL 0.2 Set output limit of A axis to 0.2 volts
JG 10000 Set A speed
BG Start A motion
Instruction Interpretation
TL 1.0 Increase torque limit to 1 volt.
TL 9.998 Increase torque limit to maximum, 9.998 Volts.
Instruction
KP?
Instruction
#A
DP 0
v1=1000
Interpretation
Return gain of A axis
Interpretation
Label
Define current position as zero
Set initial value of v1
CDS-3310