Parker Automation Gemini GV6K, Command Reference Manual

Page: 189 / 362

Command Descriptions 187
L
Loop
Type
Loops; Program Flow Control
Syntax
<a_><!>L<i>
Units
i = number of times to loop
Range
0-999,999,999 (0 = infinite loop)
Default
0
Response
L: No response; instead, this has the same function as L0
See Also
C, COMEXS, LN, LX, PLN, PLOOP, PS, S
Product Rev
GT6K 6.0
GV6K 6.0
When you combine the Loop (
L
) command with the end of loop (
LN
) command, all of the commands
between
L
and
LN
will be repeated the number of times specified by
L<i>
. If
<i>
=
Ø
, or if no argument is
specified, all the commands between
L
and
LN
will be repeated indefinitely. The loop can be stopped by
issuing a Terminate Loop (
!LX
) command, an immediate Kill (
!K
) command, or an immediate Halt
(
!HALT
) command.
The loop can be paused by issuing an immediate Pause (
!PS
) command or a Stop (
!S
) command, but only
in the COMEXS1 mode. The loop can then be resumed with the immediate Continue (
!C
) command.
You may nest loops up to 16 levels deep.
NOTE : Be careful about performing a
GOTO
between the
L
and
LN
commands. Branching to a different
location within the same program will cause the next loop encountered to be nested within the
previous loop, unless an
LN
command has already been encountered.
Example:
DEL flash ; Delete program flash
DEF flash ; Begin definition of program flash
L5 ; Repeat the commands between L and LN five times
A20 ; Set acceleration to 20 revs/sec
D8300 ; Set distance to 8300 counts
WAIT(AS.1=b0) ; Wait until no motion is commanded
OUTxxx1 ; Turn on output #4
T.75 ; Dwell for 0.75 seconds
OUTxxx0 ; Turn off output #4
T.75 ; Dwell for 0.75 seconds
LN ; End loop
END ; End definition
LDAMP
Load Damping
Type
System
Syntax
<a_><!>LDAMP<r>
Units
Rotary motor: r = Nm/rad/sec
Linear motor: r = N/meter/sec
Range
Rotary motor: 0.0000 to 1.0000 : ±0.0001
Linear motor: DMEPIT (electrical pitch) dependent
Default
0.0000
Response
LDAMP: *LDAMP0.2000
See Also
DMTD, SGPRAT, SGVRAT, TGAIN, TSGSET
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
LDAMP
command specifies the damping provided by the mechanical load only, not including the motor
itself (which is specified by
DMTD
).
Working with servo gains .
•
Servo tuning process: refer to the Hardware Installation Guide .
•
Check the values of all active gains (
LDAMP
is one of many servo gains): use
TGAIN
.
•
Creating and invoking gain sets: see
SGSET
,
SGENB
,
TGAIN
,
TSGSET
.
www.comoso.com