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CDS-3310
Command Summary - Position Tracking Mode ....................................................... 49
Electronic Gearing ................................................................................................................... 50
Ramped Gearing ...................................................................................................................... 50
Example - Electronic Gearing Over a Specified Interval.......................................... 51
Command Summary - Electronic Gearing ................................................................ 52
Electronic Cam ........................................................................................................................ 53
Contour Mode............................................................................................................................ 4
Specifying Contour Segments ..................................................................................... 4
Additional Commands................................................................................................. 5
Command Summary - Contour Mode ......................................................................... 6
General Velocity Profiles ............................................................................................ 6
Example....................................................................................................................... 6
Virtual Axis ............................................................................................................................... 9
Dual Loop (Auxiliary Encoder) ................................................................................................. 9
Additional Commands for the Auxiliary Encoder....................................................... 9
Backlash Compensation ............................................................................................ 10
Example..................................................................................................................... 10
Motion Smoothing ................................................................................................................... 11
Using the IT Command: ............................................................................................ 11
Example..................................................................................................................... 12
Homing .................................................................................................................................... 13
Example..................................................................................................................... 13
Command Summary - Homing Operation................................................................. 15
Operand Summary - Homing Operation.................................................................... 15
High Speed Position Capture (The Latch Function) ................................................................ 15
Example..................................................................................................................... 15
Overview ................................................................................................................................. 16
Using the DOS Editor to Enter Programs ................................................................................ 16
Edit Mode Commands............................................................................................... 17
Example..................................................................................................................... 17
Program Format ....................................................................................................................... 18
Using Labels in Programs ......................................................................................... 18
Special Labels............................................................................................................ 18
Commenting Programs.............................................................................................. 19
Executing Programs - Multitasking ......................................................................................... 19
Debugging Programs ............................................................................................................... 20
Trace Command ........................................................................................................ 20
Error Code Command................................................................................................ 21
Stop Code Command................................................................................................. 21
RAM Memory Interrogation Commands .................................................................. 21
Operands.................................................................................................................... 21
Example..................................................................................................................... 22
Program Flow Commands ....................................................................................................... 22
Event Triggers & Trippoints...................................................................................... 22
Conditional Jumps ..................................................................................................... 26
IF, ELSE, AND ENDIF............................................................................................. 28
Subroutines................................................................................................................ 29
Stack Manipulation.................................................................................................... 30
Auto-Start Routine .................................................................................................... 30
Automatic Subroutines for Monitoring Conditions ................................................... 30
Mathematical and Functional Expressions .............................................................................. 35
Mathematical Operators ............................................................................................ 35
Bit-Wise Operators.................................................................................................... 35
16
Chapter 1 Overview
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