Control Variables - Galil Motion Control CDS-3310 User Manual

After the above program is entered, download to the controller. To start the motion, command:

Control Variables

Objective: To show how control variables may be utilized.
To start the program, command
XQ #A
This program moves A to an initial position of 1000 and returns it to zero on increments of half the
distance. Note, _TPA is an internal variable which returns the value of the A position. Internal
variables may be created by preceding a CDS-3310 instruction with an underscore, _.
CDS-3310
#LOOP
PA v1
BG
AM
WT 500
TP
v1=v1+1000
JP #LOOP,v1<10001
EN
XQ #A
Instruction Interpretation
#A;DP0 Label; Define current position as zero
PR 4000 Initial position
SP 2000 Set speed
BG Move A
AM Wait until move is complete
WT 500 Wait 500 ms
#B
v1 = _TPA Determine distance to zero
PR -v1/2 Command A move 1/2 the distance
BGA Start A motion
AMA After A moved
WT 500 Wait 500 ms
v1= Report the value of V1
JP #C, v1=0 Exit if position=0
JP #B Repeat otherwise
#C Label #C
EN End of Program
Execute Program #A
Label for loop
Move A motor v1 counts
Start A motion
After A motion is complete
Wait 500 ms
Tell position A
Increase the value of v1
Repeat if v1<10001
End
Execute Program #A
Chapter 2 Getting Started
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