Danaher Motion B8961, Operator'S Manual

Page: 73 / 158

71
Chapter 6 - IDeal ™ Command Reference
The GI command can cause program execution and moves to be asynchronous.In
order to re-synchronize the end of a GI move with program execution,use the Wait
(WT) command and its new syntax,i.e.WT#1 will wait for only axis #1.
If a program error occurs during a GI move,the move will stop at the Stop Decel
Rate.
USING THE GI COMMAND - EXAMPLES
The following examples are provided to help further explain the use of the com-
mand:
A. If a GI move is in progress and an additional move is commanded on the same
axis,the additional move will not begin until the GI move has completed. For
example:
VE1 DA100 GI OT1,1 DA0 GI IF1,1 MS1,”All moves done” TD5 EB
In this program,one may expect to see the message “All moves done”immediately
after the DA100 move begins.In reality, the program will wait at the DA0 GI until
the DA100 move has completed before continuing.More simply stated,a move can-
not be commanded to begin on an axis that is already moving.
B. For multi-axis systems,GI allows moves within a move. For example:
VE1 DA100 GI LP5 VE,10 DI,5 GO EB
C. Since GI allows program execution to continue,there can be programming
issues when using GI. For example,in the following program fragment:
LP VE2 DI10 GI OT1 TD1 OT0 EB
After the first pass through,the loop command (LP) will wait at the GI command
since subsequent GI moves must wait for the present move to finish.