Parker Automation Gemini GV6K, Command Reference Manual

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144 Gemini GV6K/GT6K Command Reference
GO
Initiate Motion
Type
Motion
Syntax
<a_><!>GO<b>
Units
n/a
Range
b = 1 (go); or blank
Default
1
Response
GO: No response; instead, motion is initiated
See Also
A, AA, AD, ADA, COMEXC, D, GOBUF, GOWHEN, K, LH, LS, MA, MC,
PSET, S ,SCLA, SCLD, SCLV, SSV, TAS, TEST, V
Product Rev
GT6K 6.0
GV6K 6.0
The
GO
command instructs the motor to make a move using motion parameters that have been previously
entered. Several commands affect the motion that will occur when a
GO
is received:
A
,
AA
,
AD
,
ADA
,
D
,
V
,
LH
,
LS
,
MA
, and
MC
.
The
GO1
command and the
GO
command both start motion.
If motion does not occur after a
GO
command has been issued, check
TAS
bits 15-18 to ascertain if the
hardware or software end-of-travel limits have been encountered.
On-The-Fly (Pre-emptive
GO
) Motion Profiling
While motion is in progress (regardless of the positioning mode), you can change these motion
parameters “on-the-fly” (OTF) to affect a new profile:
•
Acceleration (
A
) — S-curve acceleration is not supported in OTF motion changes
•
Deceleration (
AD
) — S-curve acceleration is not supported in OTF motion changes
•
Velocity (
V
)
•
Distance (
D
)
•
Preset or Continuous Positioning Mode Selection (
MC
)
•
Incremental or Absolute Positioning Mode Selection (
MA
)
•
Following Ratio Numerator and Denominator (
FOLRN
and
FOLRD
, respectively)
The motion parameters can be changed by sending the respective command (e.g.,
A
,
V
,
D
,
MC
, etc.)
followed by the
GO
command. If the continuous command execution mode is enabled (
COMEXC1
), you can
execute buffered commands; otherwise, you must prefix each command with an immediate command
identifier (e.g.,
!A
,
!V
,
!D
,
!MC
, etc., followed by
!GO
). The new
GO
command pre-empts the motion
profile in progress with a new profile based on the new motion parameter(s).
For more information, refer to the Custom Profiling section in the Programmer's Guide .
Example:
SCALE1 ; Enable scaling
SCLA25000 ; Set the accel. scale factor to 25000 steps/unit
SCLV25000 ; Set the velocity scale factor to 25000 steps/unit
SCLD1 ; Set the distance scaling factor to 1 step/unit
DEL proga ; Delete program called proga
DEF proga ; Begin definition of program called proga
MA0 ; Incremental positioning mode
MC0 ; Preset positioning mode
A10 ; Set the acceleration to 10 units/sec/sec
V1 ; Set the velocity to 1 units/
D100000 ; Set the distance to 100000 units
GO1 ; Initiate motion
END ; End definition of proga
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