Galil Motion Control CDS-3310 User Manual page 4

Chapter 4 Communication
Chapter 5 Command Basics
Chapter 6 Programming Motion
ii • Chapter 1 Overview
General Use Digital Outputs...................................................................................... 22
Amp Enable............................................................................................................... 22
Output Compare ........................................................................................................ 22
Error Output .............................................................................................................. 22
Brake Output ............................................................................................................. 23
Analog Output ........................................................................................................... 23
Introduction ............................................................................................................................. 25
RS232 Port............................................................................................................................... 25
Ethernet Configuration ............................................................................................................ 25
Communication Protocols ......................................................................................... 25
Addressing................................................................................................................. 25
Communicating with Multiple Devices (Handles) .................................................... 26
Modbus...................................................................................................................... 27
Multicasting............................................................................................................... 28
Using Third Party Software....................................................................................... 28
Data Record ............................................................................................................................. 29
Data Record Map....................................................................................................... 29
Explanation of Status and Axis Switch Information ................................................. 32
Notes Regarding Velocity and Torque Information .................................................. 33
QZ Command ............................................................................................................ 33
Controller Response to Commands ......................................................................................... 33
Unsolicited Messages Generated by Controller....................................................................... 33
Galil Software Tools and Libraries.......................................................................................... 34
Introduction ............................................................................................................................. 35
Command Syntax - ASCII....................................................................................................... 35
Command Syntax - Binary ...................................................................................................... 37
Binary Command Format .......................................................................................... 37
Binary command table............................................................................................... 38
Controller Response to DATA ................................................................................................ 39
Interrogating the Controller ..................................................................................................... 39
Interrogation Commands ........................................................................................... 39
Summary of Interrogation Commands ...................................................................... 40
Interrogating Current Commanded Values................................................................ 40
Operands.................................................................................................................... 40
Overview ................................................................................................................................. 41
Independent Axis Positioning.................................................................................................. 42
Command Summary - Independent Axis .................................................................. 42
Operand Summary - Independent Axis ..................................................................... 43
Examples ................................................................................................................... 43
Independent Jogging................................................................................................................ 44
Command Summary - Jogging .................................................................................. 45
Operand Summary - Independent Axis ..................................................................... 45
Examples ................................................................................................................... 45
Position Tracking..................................................................................................................... 46
Example Motion 1:.................................................................................................... 47
Example Motion 2:.................................................................................................... 47
Example Motion 3:.................................................................................................... 48
Trip Points ................................................................................................................. 49
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CDS-3310