Aerotech UNIDEX 600 Series, Руководство пользователя

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AerDebug U600 User’s Guide
4-14
Aerotech, Inc.
Version 1.4
When the user downloads to a queue, the user must provide the starting user line
number in the PRGLOAD.
EXAMPLE:
ORIGINAL (PRGTYPE LISTING)
G1 F4 ; this will generate two statements: a G1 and a TASKPARM[35]=4
; this line has no code on it
$ glob[0]=0
COMPILED (PRGDUMP LISTING)
0 [1] TASKPARM[35] = 4.000000
1 [1] G1
2 [2] $DBL.GLOB0 = 0.000000
Programs can also be downloaded as circular queues. Queues are intended for situations
where not all lines are available at once. Lines can be compiled and downloaded, then at a
later time more lines can be compiled and appended to the program.
An important feature of queues is they are circular, so if the downloading is properly
coordinated with the execution, then queues can execute programs of infinite length. After
each line is executed, it is discarded, this makes a line available to download another line.
If lines are executed faster than they are downloaded, the queue becomes empty.
The user must declare the size of a circular queue. When the axis processor has reached
the end of the queue, then it starts executing the queue at the beginning. After each line is
executed, that line becomes available for loading of another line. Therefore, execution
will not end until an explicit M02 is seen. The axis processor indicates if the queue is full,
or empty in the status.
However, queues have certain disadvantages: any statement with a jump cannot be
downloaded into a queue, because the jump may refer to a line that is not currently in the
queue. This includes all if, while, and repeat statements, as well as M47 and M30 codes.
Here is an example of how a queue can be used, a series of lines are compiled and
downloaded.
PRG1 "$global0=1"
PRGL "?" 3 0
; Queue has 3 lines, download this as userline 1 in the queue
PRG1 "$global0=2"
PRGL "?" 0 1
; Download this as userline 2 in the queue
PRG1 "$global0=3"
PRGL "?" 0 2
; Download this as userline 3 in the queue
TSKA "?" ; Associate
PRGD "?" ; Dump out all the source (3 lines above)
TSKPRG E 1 ; Execute, stepover, first line of the queue program. This will free a
; queue line to load another line.
PRG1 "$global0=4"
PRGL "?" 0 2
; Download this as userline 4 in the queue