| gclib 1.34.15 Communications API for Galil controllers and PLCs |

Position_Tracking.vb
1 Partial Public Module Examples
2 Public Function Position_Tracking(gclib As Gclib, speed As Integer)
3 Dim acc = 100 * speed ' Set acceleration/deceleration to 100 times speed
4
5 gclib.GCommand("STA") 'Stop motor
6 gclib.GMotionComplete("A") 'Wait For motion To complete
7 gclib.GCommand("SHA") 'Set servo here
8 gclib.GCommand("DPA=0") 'Start position at absolute zero
9 gclib.GCommand("PTA=1") 'Start position tracking mode On A axis
10
11 gclib.GCommand("SPA=" + speed.ToString()) 'Set speed
12 gclib.GCommand("ACA=" + acc.ToString()) 'Set acceleration
13 gclib.GCommand("DCA=" + acc.ToString()) 'Set deceleration
14
15 Console.WriteLine("Begin Position Tracking with speed " + speed.ToString() +
16 ". Enter a non-number to exit.\n")
17
18 Dim position As Integer
19
20 'Loop asking user for New position. End loop when user enters a non-number
21 While True
22 Console.WriteLine("Enter a new position:")
23 Dim ok = Integer.TryParse(Console.ReadLine(), position)
24
25 If ok Then ' A Then valid position was provided
26 gclib.GCommand("PAA=" + position.ToString()) ' Go To New position
27 Else 'A non-number was entered
28 Console.WriteLine("Position Tracking has exited")
29 Exit While
30 End If
31 End While
32 gclib.GCommand("STA") 'Stop motor
33 gclib.GMotionComplete("A") 'Wait For motion To complete
34
35 Return GALIL_EXAMPLE_OK
36 End Function
37 End Module