Parker Automation Gemini GV6K, Command Reference Manual

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56 Gemini GV6K/GT6K Command Reference
On-the-fly Velocity, Acceleration and Deceleration Change Example:
DEF vsteps ; Begin definition of program vsteps
COMEXC1 ; Enable continuous command execution mode
MC1 ; Set mode to continuous
A10 ; Set acceleration to 10 rev/sec/sec
V1 ; Set velocity to 1 rps
GO1 ; Initiate move
WAIT(VEL=1) ; Wait for motor to reach continuous velocity
T3 ; Time delay of 3 seconds
A50 ; Set acceleration to 50 rev/sec/sec
V10 ; Set velocity to 10 rps
GO1 ; Initiate move
T5 ; Time delay of 5 seconds
S1 ; Initiate stop of move
WAIT(MOV=b0) ; Wait for motion to completely stop
COMEXC0 ; Disable continuous command execution mode
END ; End definition of program vsteps
COMEXL
Continue Execution on Limit
Type
Command Buffer Control
Syntax
<a_><!>COMEXL<b>
Units
b = 0 or 1
Range
0 = Disable, 1 = Enable
Default
0
Response
COMEXL: *COMEXL0
See Also
COMEXC, COMEXS, ERROR, LH, LIMLVL, LS
Product Rev
GT6K 6.0
GV6K 6.0
COMEXL
determines whether the command buffer will be saved upon hitting a hardware end-of-travel limit
(
LH
), or a soft limit (
LS
). If save command buffer on limit is enabled (
COMEXL1
), then all commands
following the command currently being executed will remain in the command buffer when a limit is hit. If
save command buffer on limit is disabled (
COMEXLØ
), then every command in the buffer will be discarded,
and program execution will be terminated.
Example:
COMEXL1 ; Save the command buffer if the limit is hit.
COMEXR
Continue Motion on Pause/Continue Input
Type
Command Buffer Control
Syntax
<a_><!>COMEXR<b>
Units
b = 0 or 1
Range
0 = disable, 1 = enable
Default
0
Response
COMEXR: *COMEXR0
See Also
C, COMEXS, INFNC
Product Rev
GT6K 6.0
GV6K 6.0
The
COMEXR
command determines the functionality of programmable inputs defined as pause/continue inputs
with the
INFNCi-E
command. When the input is activated, the command being processed will be allowed to
finish executing.
COMEXRØ
: Upon receiving a pause input, only program execution is paused; any motion in progress will
continue to its predetermined destination. Releasing the pause input or issuing a
!C
command
will resume program execution.
COMEXR1
: Upon receiving a pause input, both motion and program execution will be paused; the motion
stop function is used to halt motion. After motion stops , you can release the pause input or issue
a
!C
command to resume motion and program execution.
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