Parker Automation Gemini GV6K, Command Reference Manual

Page: 145 / 362

Command Descriptions 143
D+ ; Set direction to positive
MC1 ; Select continuous positioning mode
GO1 ; Start following master continuously
VARB1=b10 ; Define input pattern #1 and assign to VARB
VARB2=b01 ; Define input pattern #2 and assign to VARB
$TESTIN ; Define label called TESTIN
IF(IN=VARB1) ; IF statement (if onboard input #1 is activated, do the jump)
JUMP SHIFTP ; Jump to shift follower in positive-direction when pattern 1 active
NIF ; End of IF statement
IF(IN=VARB2) ; IF statement (if onboard input #2 is activated, do the jump)
JUMP SHIFTN ; Jump to shift follower in negative-direction when pattern 2 active
NIF ; End of IF statement
JUMP TESTIN ; Return to main program loop
$SHIFTP ; Define label called SHIFTP (subroutine to shift in the
; positive direction)
FSHFD200 ; Start preset follower shift move of 200 steps in positive direction
WAIT(FS.10=b0) ; Wait for shift to finish
JUMP TESTIN ; Return to main program loop
$SHIFTN ; Define label called SHIFTN (subroutine to shift in the
; negative direction)
FSHFD-2ØØ ; Start preset follower shift move of 200 steps in the negative
; direction
WAIT(FS.10=b0) ; Wait for shift to finish
JUMP TESTIN ; Return to main program loop
END ; End definition of program called PSHIFT
FVMACC
Virtual Master Count Acceleration
Type
Following
Syntax
<a_><!>FVMACC<i>
Units
i = count acceleration in counts/sec/sec
Range
0-999,999,999
Default
0
Response
FVMACC *0
See Also
FOLMAS, FVMFRQ, SINAMP, SINANG, SINGO
Product Rev
GT6K 6.0
GV6K 6.0
Use the
FVMACC
command to define the rate at which the virtual master internal count frequency may
change. This command allows smooth changes in master velocity and direction.
FVMFRQ
Virtual Master Count Frequency
Type
Following
Syntax
<a_><!> FVMFRQ<i>
Units
i = count frequency in counts/sec
Range
±
1,000,000
Default
+0
Response
FVMFRQ *0
See Also
FOLMAS, FVMACC, SINAMP, SINANG, SINGO
Product Rev
GT6K 6.0
GV6K 6.0
Use the
FVMFRQ
command to define the virtual master count frequency. The “virtual master” is an internal
count source, intended to mimic the counts which might be received on an external encoder port. Just as
may be encountered with an external encoder, this count source may speed up, slow down, stop, or count
backwards.
The count source has a variable count frequency, defined by the user. The count source is always enabled,
counting at the signed rate specified by this command. To start and stop the count source, specify non-zero
or zero values, respectively, for the
FVMFRQ
command.
The rate at which the count frequency may change is specified in counts per second per second with the
FVMACC
command, allowing smooth changes in master velocity and direction.
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