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For additional information about automatic array capture, see Chapter 7, Arrays.
Virtual Axis
The CDS-3310 controller has an additional virtual axis designated as the N axis. This axis has no
encoder and no DAC. However, it can be commanded by the commands:
AC, DC, JG, SP, PR, PA, BG, IT, GA, ST, DP, RP
Dual Loop (Auxiliary Encoder)
The CDS-3310 provides an interface for a second encoder except when configured for output compare.
When used, the second encoder is typically mounted on the motor or the load, but may be mounted in
any position. The most common use for the second encoder is backlash compensation, described
below.
The second encoder may be a standard quadrature type, or it may provide pulse and direction. The
controller also offers the provision for inverting the direction of the encoder rotation. The main and
the auxiliary encoders are configured with the CE command. The command form is CE a,b,c,d (or
a,b,c,d,e,f,g,h for controllers with more than 4 axes) where the parameters a,b,c,d each equal the sum
of two integers m and n. m configures the main encoder and n configures the auxiliary encoder.
Using the CE Command
m=
0
1
2
3
For example, to configure the main encoder for reversed quadrature, m=2, and a second encoder of
pulse and direction, n=4, the total is 6, and the command for the A axis is
Additional Commands for the Auxiliary Encoder
The command, DE a,b,c,d can be used to define the position of the auxiliary encoders. For example,
CDS-3310
WT1000
CMA
DT2
i=0
#LOOP3
CD dx[i];WC
i=i+1
JP#LOOP3,i<500
DT0
CD0
EN
Main Encoder
Normal quadrature
Pulse & direction
Reverse quadrature
Reverse pulse & direction
CE 6
DE 0,500,-30,300
Wait 1 sec (1000 msec)
Specify contour mode on A axis
2
Set contour data rate to be 2
Set array index to 0
Subroutine to execute contour points
Contour data command; Wait for next contour point
Update index
Continue until all array elements have been executed
Set contour update rate to 0
Disable the contour mode (combination of DT0 and CD0)
End program
n=
Second Encoder
0
Normal quadrature
4
Pulse & direction
8
Reversed quadrature
12
Reversed pulse & direction
Chapter 6 Programming Motion
msec
i
9
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