Parker Automation Gemini GV6K, Command Reference Manual

Page: 273 / 362

Command Descriptions 271
STARTP
Start-Up Program
Type
Program Definition
Syntax
<a_><!>STARTP<t>
Units
t = text (name of program)
Range
Text name of 6 characters or less
Default
n/a
Response
STARTP: *STARTP MAIN
See Also
DEF, RESET, SCALE
Product Rev
GT6K 6.0
GV6K 6.0
The
STARTP
command assigns an existing program to be executed automatically when the Gem6K drive is
powered up or reset. A reset may be invoked by sending the
RESET
command, or activating the hardware
Reset input (pin 3 on the
DRIVE I/O
connector). For example,
STARTP MAIN
assigns program
MAIN
(previously defined with
DEF MAIN
) as the startup program.
If the program that is identified as the
STARTP
program is deleted with the
DEL
command, the
STARTP
assignment is automatically cleared. If you wish to prevent the
STARTP
program from being executed,
without having to delete the assigned program, issue the
STARTP CLR
command.
Example:
DEL WakeUp ; Delete program WakeUp
DEF WakeUp ; Begin definition of program WakeUp
INFNC1-B ; Assign input #1 as a BCD program select input
INFNC2-B ; Assign input #2 as a BCD program select input
INFNC3-B ; Assign input #3 as a BCD program select input
END ; End program definition
STARTP WakeUp ; Assign program WakeUp as the startup program
STARTP CLR ; Clears the program WakeUp from its assignment as the
; start-up program
DEL WakeUp ; Deletes the program WakeUp and clears the STARTP command
; (no power-up program will be executed)
STEP
Single Step Mode Enable
Type
Program Debug Tool
Syntax
<a_><!>STEP<b>
Units
n/a
Range
b = 0 (disable), 1 (enable) or X (don't care)
Default
0
Response
STEP: *STEP0
See Also
[ # ], BP, [ SS ], TRACE, TRACEP, TRANS, TSS
Product Rev
GT6K 6.0
GV6K 6.0
The
STEP
command enables single command step mode. Single step mode is used for stepping through a
defined (
DEF
) program. To execute single step mode:
1. Define a program (
DEF
)
2. Enable single step mode (
STEP1
)
3. Enable trace mode (
TRACE1
)
4. Run the program (
RUN
)
5. Use the immediate pound (
!#
) to step through the program
Each step (
!#
) command will initiate the next command to be processed.
Example:
DEF tester ; Begin definition of program named tester
V1 ; Set velocity to 1 unit/sec
; (Note: This command will not be executed until a !# sign
; is received.)
A10 ; Set acceleration to 10 units/sec/sec
D1 ; Set distance to 1 unit
GO1 ; Initiate motion
OUT11X1 ; Turn on outputs 1, 2, and 4, leave 3 unchanged
www.comoso.com