Parker Automation Gemini GV6K, Command Reference Manual

Page: 339 / 362

Command Descriptions 337
[ VMAS ]
Current Master Velocity
Type
Following; Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
FFILT, FMCNEW, FMCP, FOLMAS, FOLMD, SCALE, SCLMAS, TVMAS
Product Rev
GT6K 6.0
GV6K 6.0
The
VMAS
command is used to assign the master velocity value to a variable, or to make a comparison
against another value. The master must be assigned first (
FOLMAS
command) before this command will be
useful.
Syntax:
VARn=VMAS
where “
n
” is the variable number, or
VMAS
can be used in an expression such as
IF(VMAS>1Ø)
.
The precision of the
VMAS
value is dependent upon the
FFILT
filter value.
If scaling is enabled (
SCALE1
), the velocity value is scaled by the master scaling factor (
SCLMAS
). If scaling
is disabled (
SCALEØ
), the velocity value is in counts/sec.
Example:
IF(VMAS>4.3) ; If the master is traveling at more than
; 4.3 user units/sec then do the IF statement
OUT.4=b1 ; Set onboard output #4 to 1
NIF ; End of IF statement
VAR14=VMAS ; Set VAR14 to master velocity
WAIT( )
Wait for a Specific Condition
Type
Program Flow Control
Syntax
<a_><!>WAIT(expression)
Units
n/a
Range
Up to 80 characters (including parentheses)
Default
n/a
Response
n/a
See Also
FMCLEN, FMCNEW, FMCP, GOWHEN, IF, NWHILE, REPEAT, [ SS ], T,
TSS, UNTIL, WHILE
Product Rev
GT6K 6.0
GV6K 6.0
The
WAIT
command is used to wait for a specific expression to evaluate true. No commands, except for
immediate commands (a command preceded with !), after the
WAIT
command will be processed until the
expression contained within the parentheses of the
WAIT
command evaluates true. The
COMEXC
command
has no effect on the
WAIT
command. When a wait condition is pending, system status (
TSS
) bit #14 is set.
All logical operators (
AND
,
OR
,
NOT
), and all relational operators (
=
,
>
,
>=
,
<
,
<=
,
<>
) can be used within the
WAIT()
expression. There is no limit on the number of logical operators, or on the number of relational
operators allowed within a single
WAIT()
expression.
The limiting factor for the
WAIT()
expression is the command length. The total character count for the
WAIT()
command and expression cannot exceed 80 characters. For example, if you add all the letters in the
WAIT
command and the letters within the
()
expression, including the parenthesis and excluding the
spaces, this count must be less than or equal to 80.
All assignment operators (
A
,
AD
,
AS
,
D
,
ER
,
IN
,
INO
,
MOV
,
OUT
,
PC
,
PCE
,
PCMS
,
PE
,
PER
,
SS
,
TIM
,
US
,
V
,
VEL
, etc.) can be used within the
WAIT()
expression.
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