B8961 and B8962 User Manual
56
AC2,5
Set acceleration of both axes
VE10,3
Set velocity of both
DI9,-3.1
Set distance of each axis
GO
Start both together
DI9
Moves only axis 1 because the last D command
GO
only had a parameter for axis 1
DI,2
Moves only axis 2 because the last D command
GO
only had a parameter for axis 2
In the first move in the example,the GO command is used to start multiple axes at
the same time.The move profiles for each axis are independent.While axes start at
the same time,the moves are independent and will follow their respective accelera-
tions and velocities,though the axes may not stop moving at the same time.
The Go Point (GP) command allows you to move two axes along a linear path that
starts and stops at the same time.The control uses the most recent value in axis 1,
the first parameter, to specify the AC,VE,and DE values along the path (see exam-
ple 1 below).In most cases, your program will be easier to understand if you
re
de-
fine these parameters as a single value for the path (see example 2 below).GP uses
the last distance value for each axis to determine the end points of the linear
move.The two examples below result in identical GP moves.
Example 1:
Example 2:
AC2,3
AC2
VE4,10
VE4
DE.5
DE.5
DI5,6
DI5,6
GP
GP
GO and GI commands support additional parameters providing more advanced fea-
tures.The additional parameters allow you to:
1.
Start each axis based on different conditions.
2.
Start one axis with an input while another is moving.
3.
Start one or more axis moving based on one input.
4.
Start different axis based on dif ferent inputs.
5.
Reduce the size of a program by using fewer “move”commands.
GO supports an extended syntax to allow these other move specifications.
GO
i,i
or GIi,i
i
= 0-16,integers only
The extended syntax always explicitly defines which axes will move.Only those
axes which have an active input defined by
i
will move,and the last move parame-
ters will define the shape and length of the move profile.
An axis will start moving when the input defined by
i
turns on. You can start dif -
ferent axes at dif ferent times by using different integers (
i
) for each axis.
Setting i = 0 will explicitly define which axis will move when a GO command is
processed.(See the examples below for more clarification.)
Summary of Contents for B8961
Page 111: ...109 Chapter 7 Programming with Serial Communication...
Page 132: ...B8961 and B8962 User Manual 130...
Page 136: ...B8961 and B8962 User Manual 134 B8961 and B8962 Hardware Connections...
Page 137: ...135 Chapter 8 Hardware Reference B8961 and B8962 Input and Output Schematics...
Page 138: ...B8961 and B8962 User Manual 136 Connecting IDC Limit Switches to the B8961 2...
Page 156: ...B8961 and B8962 User Manual 154...
