Parker Automation Gemini GV6K, Command Reference Manual

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200 Gemini GV6K/GT6K Command Reference
This command can be used externally to terminate the loop only if it is preceded by the immediate command
specifier (
!LX
). If the immediate command specifier is not used, the command will have no effect on a loop in
progress. An example of where the buffered Terminate Loop command (
LX
) might be used is provided below.
Example:
; *******************************************************************
; This program will make the move specified by the GO1 command
; indefinitely until input 2 goes high, at which point, an LX will
; be issued, terminating the loop.
; *******************************************************************
L0
; Repeat the commands between L and LN infinitely, or until
; a Terminate Loop (LX) command is received
GO1 ; Start motion
IF(IN=bX1) ; If input 2 goes high, execute all
; statements between IF and NIF
LX ; Terminate loop
NIF ; End IF statement
LN ; End loop
MA
Absolute/Incremental Mode Enable
Type
Motion
Syntax
<a_><!>MA<b>
Units
n/a
Range
b = 0 (incremental mode) or 1 (absolute mode)
Default
0
Response
MA: *MA0
See Also
COMEXC, D, GO, PSET
Product Rev
GT6K 6.0
GV6K 6.0
The
MA
command specifies whether the subsequent motion will be made with respect to current position
(incremental mode) or with respect to an absolute zero position (absolute mode).
In incremental mode (
MAØ
), all moves are made with respect to the position at the beginning of the move.
This mode is useful for repeating moves of the same distance.
In absolute mode (
MA1
), all moves are made with respect to the absolute zero position. The absolute zero
position is equal to zero upon power up, and can be redefined with the
PSET
command. An internal counter
keeps track of absolute position.
ON-THE-FLY CHANGES : You can change positioning modes on the fly (while motion is in progress) in
two ways. One way is to send an immediate command (
!MA
) followed by an immediate go command
(
!GO
). The other way is to enable the continuous command execution mode (
COMEXC1
) and execute a
buffered command (
MA
) followed by a buffered go command (
GO
).
Example:
PSET0 ; Set the present position to be absolute position zero
MA1 ; Enable absolute positioning mode
A2 ; Set acceleration to 2 revs/sec/sec
AD7 ; Set deceleration to 7 revs/sec/sec
V1 ; Set velocity to 1 rev/sec
D4000 ; Set the setpoint distance to absolute position 4000
GO1 ; Start motion: (move 4000 counts in the positive direction)
D2000 ; Set the setpoint distance to absolute position 2000
GO1 ; Start motion: (move 2000 counts in the negative direction)
D8000 ; Set the setpoint distance to absolute position 8000
GO1 ; Start motion: (move 6000 counts in the positive direction)
MA0 ; Enable incremental positioning mode
D4000 ; Set incremental distance to 4000 counts, positive direction
GO1 ; Start motion: (move 4000 counts in the positive direction
; and finish at absolute position 12000)
GO1 ; Start motion again: (move 4000 counts in the positive direction
; and finish at absolute position 16000)
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