Parker Automation Gemini GV6K, Справочник по командам

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226 Gemini GV6K/GT6K Command Reference
[ PCME ]
Position of Captured Master Encoder
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
INFNC, MEPOL, MESND, [ PME ], [ PCMS ], PMECLR, PMESET, TPCME,
TPME, TPCMS
Product Rev
GT6K 6.0
GV6K 6.0
Use the
PCME
operator to assign the captured master encoder position to a variable, or to make a
comparison against another value. The master encoder is connected to the connector labeled “Master
Encoder.”
Syntax :
VARn=PCME
where “
n
” is the variable number; or
PCME
can be used in an expression such as
IF(PCME>2345Ø)
.
Inputs on the
DRIVE I/O
connector:
Input # Pin # GT6K & GV6K Function (
INFNC
default )
1 37
INFNC1-A
(General-purpose. If assigned, TRG-A must be on Input #1)
2 38
INFNC2-A
(General-purpose. If assigned, TRG-B must be on Input #2)
3 39
INFNC3-A
(General-purpose)
4 34
INFNC4-A
(General-purpose)
5 35
INFNC5-A
(General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
About Position Capture : The master encoder position can be captured only by the Master Trigger input
(input #5), and only when that input is defined as a “trigger interrupt” input with the
INFNC5-H
command
(see
INFNC
command). When the “trigger interrupt” input is activated (active edge), the master encoder
position is captured and the position is available through the use of the
PCME
operator and the
TPCME
display command.
Position Capture Status, Longevity of Captured Position : Use the
TTRIG
and
TRIG
commands to
ascertain if a trigger interrupt input has been activated.
TTRIG
displays the status as a binary report, and
TRIG
is an assignment/comparison operator for using the status information in a conditional expression
(e.g., in an
IF
statement). Once the captured master encoder position value is assigned/compared with the
PCME
operator,
TTRIG
/
TRIG
status bit #5 is cleared; but the position information remains available until it
is overwritten by a subsequent position capture from the master trigger input.
Position Capture Accuracy : The master encoder position capture accuracy is ±1 encoder count.
Scaling and Position Offset : The
PCME
value is always in master encoder counts; it is never scaled. If you
issue a
PMESET
(establish absolute position reference) command, any previously captured master encoder
positions will be offset by the
PMESET
command value.
Example:
INFNC5-H ; Assign input #5 as master trigger input (TRIG-M) for the
; master encoder
VAR1=PCME ; Assign captured master encoder position to variable 1
; (position was captured when master trigger became active)
IF(PCME<4000) ; If the captured master encoder position
; (captured when master trigger input became active) is
; less than 4000, do the IF statement
VAR2=PCME+10 ; Add 10 to the captured master encoder position
; (captured when master trigger input became active) and
; assign the sum to variable #2
NIF ; End IF statement
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