Parker Automation Gemini GV6K, Command Reference Manual

Page: 241 / 362

Command Descriptions 239
PRUN
Run a Compiled Profile
Type
Compiled Motion; PLC Program
Syntax
<a_><!>PRUN<t>
Units
t = text (name of path program)
Range
text name of 6 characters or less
Default
n/a
Response
n/a
See Also
COMEXC, DEF, END, PCOMP, PUCOMP, GOBUF, PLCP, PLOOP, PLN,
SCANP
Product Rev
GT6K 6.0
GV6K 6.0
Use the
PRUN
command to start execution of a previously compiled program (a
GOBUF
profile, or a
PLCP
program). All the required information about the program or path whose name is specified in the
PRUN
command has already been stored by the definition commands (
DEF
and
END
) and compiled by the
PCOMP
command.
Executing
GOBUF
profiles: If the axis is not ready, a
GOBUF
profile will not be executed. An axis is not
ready if it is shutdown, moving, or in joystick mode. When execution of a pre-compiled program begins,
the axis becomes busy until motion has completed.
Executing PLC programs: When using
PRUN
to execute a
PLCP
program, the
PLCP
program is run only
once (as opposed to invoking a continual scan loop when executing
PLCP
programs with the
SCANP
command).
COMEXC1
mode must be enabled in order for command processing to continue once a motion invoking
command has been initiated with
PRUN
. If you use the
PRUN
command within a program while in
COMEXC1
mode, it functions as a
GO
and returns control back to the original program after the embedded program’s
motion is started (control is returned to the first command immediately following the
PRUN
command). If in
COMEXCØ
mode, command processing will not continue until the motion invoking command has completed
its movement.
Example:
DEL prog1 ; Delete prog1
DEF prog1 ; Define prog1
MC0 ; Preset positioning mode
D50000 ; Distance is 50000
A10 ; Acceleration is 10 revs/sec/sec
AD10 ; Deceleration is 10 revs/sec/sec
V5 ; Velocity is 5 revs/sec
GOBUF1 ; 1st motion segment
D30000 ; Distance is 30000
V2 ; Velocity is 2 revs/sec
GOBUF1 ; 2nd motion segment
END ; End definition of prog1
PCOMP prog1 ; Compile prog1
PRUN prog1
; Execute prog1
PS
Pause Program Execution
Type
Program Flow Control
Syntax
<a_><!>PS
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
C, COMEXR, COMEXS, K, S, [ SS ], TSS
Product Rev
GT6K 6.0
GV6K 6.0
The
PS
command pauses execution of commands in the command buffer. If a
PS
command is executed, no
commands after the
PS
will be executed until a
!C
command is received. However, additional commands
may still be placed in the command buffer.
The
PS
command does not pause motion. In order for motion to be paused, the
S
and the
COMEXS
commands should be used.
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