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上海微敏自控Galil_CDS-3310命令参考手册(英文).pdf
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上海微敏自控Galil_CDS-3310命令参考手册(英文)pdf
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CDS-3310
COMMAND
REFERENCE
Manual Rev. 1.0g
By Galil Motion Control, Inc.
Galil Motion Control, Inc.
270 Technology Way
Rocklin, California 95765
Phone: (916) 626-0101
Fax: (916) 626-0102
Internet Address: support@galilmc.com
URL: www.galilmc.com
Rev 11/2012
ARRAYS CONTROL FEEDBACK MATH PROGRAM
DA deallocate DV dual loop AF analog feedback @ABS[x] |x| BK breakpoint
_DA arrays left FA accel feedfwd AL arm latch @ACOS[x] arccos DL download
DM define FV speed feedfwd _AL latch occurred? @ASIN[x] arcsin _DL labels left
_DM space left IL integrator limit CE configure @ATAN[x] arctan ED edit
LA list KD d gain MT motor type @COM[x] bit not ELSE if else
QD print/download KI i gain OC output compare @COS[x] cosine EN end
QU upload KP p gain _OC first pulse? @FRAC[x] fraction ENDIF if endif
RA record MO motor off RL read latch @INT[x] integer HX halt thread
RC begin _MO motor off? _RL latch position @RND[x] round IF conditional
_RC recording? NB notch width TD tell dual @SIN[x] sine JP for/while loop
RD data NF notch frequency TP tell position @SQR[x] x^0.5 JS jump subroutine
_RD address NZ notch zero TV tell velocity @TAN[x] tangent LL list labels
[ ] index OF offset GEAR + add LS list
COMMUNICATE PL low pass GA axes - subtract LV list variables
CF unsolicited SH servo here GD distance * multiply NO (') comment
CI interrupt TE tell error GM gantry mode / divide RE return error
CW copyright TK peak torque _GP phase ( ) parenthesis REM fast comment
EO echo TL torque limit GR ratio & and RI return interrupt
HS handle switch TM sample time HOME | or SL single step
IA IP address TT tell torque DE define dual $ hexadecimal TB tell status byte
IH open handle DISTRIBUTED DP define position < less than TR debug trace
IN user input HA axes FE find home only > greater than UL upload
LO lockout handle HC configure FI find index only = assign / equal _UL variables left
LZ leading zeros HQ query controllers HM home <= less or equal XQ execute
MB modbus HW response wait _HM home input >= greater or equal _XQ current line #
MG message ZA slave variable 1 INFO <> not equal ZS zero stack
MW modbus wait ZB slave variable 2 _BN serial number MOTION _ZS stack level
P1CD port 2 code EEPROM _BV axes AC acceleration #AUTO; EN
P1CH character ^R^S master reset ^R^V firmware rev BG begin #AUTOERR; EN
P1NM number BN burn TF tell FPGA rev _BG in motion? ; command delimiter
P1ST string BP burn program I/O DC deceleration # subroutine
PF position format BV burn variables @AN[x] analog in IP increment position TIME
QR query record RS reset @IN[x] digital in IT s curve AT wait reference
QZ record info ERRORS @OUT[x] digital out JG jog TIME clock
SA send command AB abort AI wait for input PA position absolute WT wait
_SA response _AB abort input AO set analog out _PA last target AMPLIFIER
SM subnet mask BL reverse soft limit CB clear digital out PR position relative AG gain
TH tell handles _ED program line CN configure PT position tracking AU current loop
VF variable format _ED1 thread CO extended I/O _PR relative target AW bandwidth
WH which handle ER maximum TE II input interrupt RP desired position BR brush motor
_WH numeric FL forward soft limit OB output bit SP speed BS brushless setup
#COMINT;EN1,1 _LF forward limit OP output port ST stop QH query halls
#TCPERR; RE _LR reverse limit OQ set 7007 port MOTION WAIT TA tell errors
CONTOUR OE off on error OS add outputs AD distance (RP)
CD data SC stop code SB set digital out AM complete (RP)
CM axes TC tell code TI tell input byte AP position (TP)
_CM buffer full #AMPERR; RE1 TS tell switches AR distance (RP)
DT delta time #CMDERR; EN1 TZ tell Ethernet I/O AS at speed (SP)
WC wait for buffer #LIMSWI; RE1 #ININT; RI1 MC complete (TP)
#POSERR; RE1 MF forward (TP)
MR reverse (TP)
TW MC timeout
#MCTIME; EN1
Command Reference CDS-3310 ● ii
TABLE OF CONTENTS
OVERVIEW ......................................................................................................................................................................... 1
Command Descriptions .................................................................................................................................................. 1
Trippoints ....................................................................................................................................................................... 3
AB ................................................................................................................................................................................... 5
AC .............................................................................................................................................................................. 6
AD ................................................................................................................................................................................ 7
AF ............................................................................................................................................................................. 8
AG ................................................................................................................................................................................ 9
AI ............................................................................................................................................................................... 10
AL .............................................................................................................................................................................. 11
AM ............................................................................................................................................................................. 12
AO ................................................................................................................................................................................ 13
AP ............................................................................................................................................................................. 14
AR ............................................................................................................................................................................. 15
AS ............................................................................................................................................................................. 16
AT ............................................................................................................................................................................. 17
AU .............................................................................................................................................................................. 18
AW ............................................................................................................................................................................. 19
BG ............................................................................................................................................................................ 20
BK ............................................................................................................................................................................ 21
BL .............................................................................................................................................................................. 22
BN ......................................................................................................................................................................... 23
BP .......................................................................................................................................................................... 24
BR ............................................................................................................................................................................... 25
BS .......................................................................................................................................................................... 26
BV .......................................................................................................................................................................... 27
BW ......................................................................................................................................................................... 28
CB ............................................................................................................................................................................. 29
CD ............................................................................................................................................................................ 30
CE .............................................................................................................................................................................. 31
CF ................................................................................................................................................................................ 32
CI ............................................................................................................................................................................. 33
CM .............................................................................................................................................................................. 34
CN ............................................................................................................................................................................ 35
CO ......................................................................................................................................................................... 36
CW ........................................................................................................................................................................ 37
DA ............................................................................................................................................................................... 38
DC ............................................................................................................................................................................ 39
DE ............................................................................................................................................................................. 40
DL ......................................................................................................................................................................... 41
DM ........................................................................................................................................................................ 42
DP ............................................................................................................................................................................ 43
DT ............................................................................................................................................................................ 44
DV ............................................................................................................................................................................. 45
EA ........................................................................................................................................................................ 46
EB ................................................................................................................................................................................ 47
EC ............................................................................................................................................................................ 48
ED ......................................................................................................................................................................... 49
EG ............................................................................................................................................................................... 50
ELSE .................................................................................................................................................................... 51
EM ............................................................................................................................................................................... 52
EN ............................................................................................................................................................................ 53
Command Reference CDS-3310 ● iii
ENDIF .................................................................................................................................................................... 54
EO ......................................................................................................................................................................... 55
EP ................................................................................................................................................................................ 56
EQ ............................................................................................................................................................................... 57
ER ............................................................................................................................................................................. 58
ET ................................................................................................................................................................................ 59
FA .............................................................................................................................................................................. 60
FE .............................................................................................................................................................................. 61
FI .............................................................................................................................................................................. 62
FL .............................................................................................................................................................................. 63
FV .............................................................................................................................................................................. 64
GA ......................................................................................................................................................................... 65
GD ......................................................................................................................................................................... 66
_GP* ............................................................................................................................................................................ 67
GR ........................................................................................................................................................................... 68
HA ......................................................................................................................................................................... 69
HC ......................................................................................................................................................................... 70
HM ............................................................................................................................................................................ 72
HQ ......................................................................................................................................................................... 73
HS ............................................................................................................................................................................. 74
HW ........................................................................................................................................................................... 75
HX ......................................................................................................................................................................... 76
IA ........................................................................................................................................................................... 77
IF ........................................................................................................................................................................... 78
IH ................................................................................................................................................................................. 79
II ................................................................................................................................................................................ 81
IK ............................................................................................................................................................................... 83
IL ............................................................................................................................................................................... 84
IN ........................................................................................................................................................................... 85
IP ........................................................................................................................................................................... 86
IT ............................................................................................................................................................................... 87
JG .............................................................................................................................................................................. 88
JP .......................................................................................................................................................................... 89
JS ........................................................................................................................................................................... 90
KD ............................................................................................................................................................................ 91
KI ............................................................................................................................................................................... 92
KP ............................................................................................................................................................................. 93
LA ........................................................................................................................................................................ 94
_LF ........................................................................................................................................................................ 95
LL .......................................................................................................................................................................... 96
LO ......................................................................................................................................................................... 97
_LR ........................................................................................................................................................................ 98
LS .......................................................................................................................................................................... 99
LV ........................................................................................................................................................................ 100
LZ ......................................................................................................................................................................... 101
MB .............................................................................................................................................................................. 102
MC .......................................................................................................................................................................... 104
MF ........................................................................................................................................................................... 105
MG ...................................................................................................................................................................... 106
MO .......................................................................................................................................................................... 107
MR ........................................................................................................................................................................... 108
MT ....................................................................................................................................................................... 109
MU ...................................................................................................................................................................... 110
MW ............................................................................................................................................................................. 111
NB ....................................................................................................................................................................... 112
NF ....................................................................................................................................................................... 113
Command Reference CDS-3310 ● iv
NO (‘ apostrophe also accepted) .............................................................................................................................. 114
NZ ........................................................................................................................................................................ 115
OB ........................................................................................................................................................................... 116
OC ..................................................................................................................................................................... 117
OE ........................................................................................................................................................................... 118
OF ........................................................................................................................................................................... 119
OP .......................................................................................................................................................................... 120
OQ .......................................................................................................................................................................... 121
OS ........................................................................................................................................................................ 122
PA ............................................................................................................................................................................ 123
PF ........................................................................................................................................................................ 124
PL ......................................................................................................................................................................... 125
PR ........................................................................................................................................................................... 126
PT ............................................................................................................................................................................... 127
QD ....................................................................................................................................................................... 128
QH ............................................................................................................................................................................ 129
QR ....................................................................................................................................................................... 130
QU ....................................................................................................................................................................... 131
QZ .............................................................................................................................................................................. 132
RA ........................................................................................................................................................................ 133
RC ....................................................................................................................................................................... 134
RD ....................................................................................................................................................................... 135
RE ........................................................................................................................................................................ 136
RI ......................................................................................................................................................................... 137
RL ........................................................................................................................................................................... 138
RP ........................................................................................................................................................................... 139
RS ........................................................................................................................................................................ 140
<control>R<control>S ......................................................................................................................................... 141
<control>R<control>V ......................................................................................................................................... 142
SA ............................................................................................................................................................................... 143
SB ............................................................................................................................................................................... 145
SC ............................................................................................................................................................................... 146
SH ........................................................................................................................................................................... 147
SL ............................................................................................................................................................................ 148
SM ....................................................................................................................................................................... 149
SP ........................................................................................................................................................................... 150
ST ............................................................................................................................................................................... 151
TA ............................................................................................................................................................................. 152
TB ........................................................................................................................................................................ 153
TC ........................................................................................................................................................................ 154
TD .......................................................................................................................................................................... 156
TE ........................................................................................................................................................................... 157
TF ......................................................................................................................................................................... 158
TH .......................................................................................................................................................................... 159
TI ............................................................................................................................................................................ 160
TIME .................................................................................................................................................................... 161
TK ............................................................................................................................................................................... 162
TL ........................................................................................................................................................................... 163
TM .......................................................................................................................................................................... 164
TP ........................................................................................................................................................................... 165
TR ........................................................................................................................................................................ 166
TS ........................................................................................................................................................................... 167
TT .......................................................................................................................................................................... 168
TV ........................................................................................................................................................................... 169
TW .......................................................................................................................................................................... 170
TZ ........................................................................................................................................................................... 171
Command Reference CDS-3310 ● v
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