Aerotech UNIDEX 511 - Page 8

U511 User’s Manual Table of Contents
Version 1.1 Aerotech, Inc. vii
4.11.17. “Contouring mode” .......................................................... 4-103
CHAPTER 5: PROGRAMMING COMMANDS.................................................. 5-1
5.1. Introduction........................................................................................ 5-1
5.2. Mathematical Function Commands.................................................... 5-2
5.2.1. Direct Variables (V0 through V255).................................... 5-2
5.2.2. Indirect Variables (VV0 through VV255)............................ 5-2
5.2.3. Functions.............................................................................. 5-3
5.2.4. Operators and Evaluation Hierarchy.................................... 5-4
5.3. System Registers................................................................................. 5-5
5.3.1. Relative Position Registers................................................... 5-5
5.3.2. Absolute Position Registers.................................................. 5-6
5.3.3. Real Time Feedback Position Registers............................... 5-6
5.3.4. Real Time Command Position Registers.............................. 5-7
5.3.5. Understanding the Concept of Program Steps...................... 5-7
5.3.6. A/D Channel Registers......................................................... 5-8
5.4. System Inputs $INP and $IN0-$INF .................................................. 5-8
5.5. Programming Commands ................................................................. 5-10
5.5.1. ABORT.............................................................................. 5-13
5.5.2. ACCELERATION ............................................................. 5-13
5.5.3. AC PL (ACCEL PLANE).................................................. 5-14
5.5.4. AFCO (Auto Focus)........................................................... 5-15
5.5.5. AGAIN............................................................................... 5-18
5.5.6. AT (Autotune).................................................................... 5-19
5.5.7. BEEP.................................................................................. 5-20
5.5.8. BOARD.............................................................................. 5-20
5.5.9. BRAKE.............................................................................. 5-21
5.5.10. CAL (Load Calibration File).............................................. 5-22
5.5.11. CLOCKWISE and COUNTERCLOCKWISE CIRCULAR
INTERPOLATION............................................................ 5-22
5.5.12. CLRSCR (Clear Screen) .................................................... 5-26
5.5.13. CI (Command Interrupt)..................................................... 5-26
5.5.14. CM (Contouring Mode) ..................................................... 5-27
5.5.15. COMREC (Strings In Port)................................................ 5-28
5.5.16. COMVAR (String to Variable).......................................... 5-29
5.5.17. CS (Command Scope)........................................................ 5-30
5.5.18. Cutter Compensation Commands....................................... 5-31
5.5.19. CVI (Convert to Integer).................................................... 5-34
5.5.20. CYCLE............................................................................... 5-34
5.5.21. DAC (D/A Output)............................................................. 5-35
5.5.22. DISABLE........................................................................... 5-36
5.5.23. DS (Display Servo Loop Data) .......................................... 5-37
5.5.24. DWELL.............................................................................. 5-38
5.5.25. DY (Dynamic Gain)........................................................... 5-38
5.5.26. ENABLE............................................................................ 5-39
5.5.27. ERROR .............................................................................. 5-40
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