148
Gemini GV6K/GT6K Command Reference
Start-motion type commands that
cannot
be synchronized using the
GOWHEN
command are:
HOM
,
JOG
,
JOY
,
and
PRUN
. A preset
GO
command that is already in motion can start a new profile using the
GOWHEN
and
GO
sequence of commands. Continuous moves (
MC1
) already in progress can change to a new velocity based
upon the
GOWHEN
and
GO
sequence. Both preset and continuous moves can be started from rest with the
GOWHEN
and
GO
sequence.
GOWHEN
Syntax:
(expression)
Relational Expression Syntax:
(<left operand> <relational operator> <right operand>)
FB
.........
LIM
.......
NMCY
.....
PC
.........
PE
.........
PMAS
.....
PSLC
.....
PSHF
.....
IN
.........
T
...........
Feedback device position
Limit input state
Master cycle number
Commanded position
Encoder position
Master position
Slave position
Following shift
Input state
Dwell (in miliseconds)
>=
<=
=
>
<
Numeric variables
(
VAR
or
VARI
)
Decimal constant
Binary value (
b___
)
for the
IN
and
LIM
operators only
EXAMPLES
GOWHEN (PE>40000)
GOWHEN (IN.4=b1)
GOWHEN (PMAS>255)
; suspend next GO until encoder position > 40000
; suspend next GO until onboard input #4 is activated (b1)
; suspend next GO until the master has
; traveled 255 master distance units
GOWHEN
Possible Operators
Possible Operators
Possible Operators
SCALING
If scaling is enabled (
SCALE1
), the right-hand operand is multiplied by
SCLD
if the left-
hand operand is
FB
,
PC
,
PE
,
PSLV
, or
PSHF
. The right-hand operand is multiplied by the
SCLMAS
value if the left-hand operand is
PMAS
. The
SCLD
or
SCLMAS
values used
correlate to the axis specified with the variable (e.g., a
GOWHEN
expression with
PE
scales
the encoder position by the
SCLD
value specified).
GOWHEN
Status:
Axis Status — Bit #26
: Bit #26 is set when motion has been commanded by a
GO
,
FGADV
,
FSHFC
,
or
FSHFD
command, but the change in motion is suspended due to a pending
GOWHEN
condition. This
status bit is cleared when the
GOWHEN
condition is true or when a stop (
!S
) or kill (
!K
or
^K
)
command is executed. A
GOWHEN
command can be cleared using an axis-specific
S
or
K
command
(e.g.,
!S1
or
!K1
).
AS.26
.....Assignment & comparison operator — use in a conditional expression (see
AS
).
TASF
........Full text description of each status bit. (see “
Gowhen is Pending
” line item)
TAS
..........Binary report of each status bit (bits 1-32 from left to right). See bit #26.
Axis Status — Bit #29
: Bit #29 is set if the input state or position relationship specified in the
GOWHEN
command is already true when the subsequent
GO
,
FGADV
,
FSHFC
, or
FSHFD
command is
issued. To clear this error condition, issue another
GOWHEN
command; or issue a
!K
command and
check the program logic (use the
TRACE
and
STEP
features if necessary).
AS.29
.....Assignment & comparison operator — use in a conditional expression (see
AS
).
TASF
........Full text description of each status bit. (see “
Gowhen error
” line item)
TAS
..........Binary report of each status bit (bits 1-32 from left to right). See bit #29.
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