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Gemini GV6K/GT6K Command Reference
PCOMP
Compile a Profile or Program
Type
Compiled Motion; PLC Program
Syntax
<a_><!>PCOMP<t>
Units
t = text (name of program/path)
Range
Text name of 6 characters or less
Default
n/a
Response
n/a
See Also
DEF, DRES, END, GOBUF, GOWHEN, MEMORY, PEXE, PLOOP, PLCP, PLN,
POUTn, PRUN, SCLD, PUCOMP, SCANP, [
SEG
], [
SS
], TDIR, TMEM,
TRGFN, TSEG, TSS
Product Rev
GT6K 6.0
GV6K 6.0
Use the
PCOMP
command to compile
GOBUF
profiles compile
PLCP
programs for PLC Scan Mode. (For
additional detail on compiled motion, refer to the Custom Profiling chapter in the
Programmer's Guide
.)
“Programs” vs. “Compiled Profiles & Programs”:
•
Programs are defined with the
DEF
and
END
commands, as demonstrated in the Program Development
Scenario in the
Programmer's Guide
.
•
Compiled Profiles are defined like programs (using the
DEF
and
END
commands), but are compiled with
the
PCOMP
command and executed with the
PRUN
command. A compiled profile could be a series of
GOBUF
commands.
•
Compiled PLC programs are defined with
DEF PLCPi
and
END
, compiled with
PCOMP
, and are normally
executed in the PLC Scan Mode with the
SCANP
.
Compiling and Storing Compiled Programs:
The Gem6K’s memory has two partitions: one for storing programs (“program” memory) and one for storing
profiles & program segments compiled with the
PCOMP
command (“compiled” memory). The allocation of
memory to these two areas is controlled with the
MEMORY
command.
Programs intended to be compiled are stored in program memory. After they are compiled with the
PCOMP
command, they remain in program memory and the segments (see segment command list below) from the
compiled profile are stored in compiled memory.
•
Compiled Motion segments:
GOBUF
,
PLOOP
,
GOWHEN
,
TRGFN
,
POUTA
•
PLC Program segments:
IF
,
ELSE
,
NIF
,
L
,
LN
,
OUT
,
EXE
,
PEXE
,
VARI
,
VARB
The
TDIR
command uses “
COMPILED AS A PATH
” to denote the programs compiled as a compiled
profile, and “
COMPILED AS A PLC PROGRAM
” to denote the programs compiled as a PLC programs.
TDIR
also reports the amount of program storage available, as does the
TSEG
command. System status bit
#29 indicates that compiled memory is 75% full, and system status bit #30 indicates that compiled memory is
completely full. (Use
TSSF
,
TSS
and
SS
to work with system status bits.)
If a compile (
PCOMP
) fails, system status bit #31 (see
TSSF
,
TSS
and
SS
) will be set. This status bit is cleared
on power-up, reset, or after a successful compile. Possible causes for a failed compile are:
•
Errors in profile design (e.g., change direction while at non-zero velocity; distance and velocity equate
to < 1 count/system update; preset move profile ends in non-zero velocity).
•
Profile will cause a Following error (see
TFSF
,
TFS
and [
FS
] commands).
•
Out of memory (see system status bit #30).
•
Axis already in motion at the time of a
PCOMP
command.
•
Loop programming errors (e.g., no matching
PLOOP
or
PLN
; more than four embedded
PLOOP
/
END
loops).
•
PLCP
program contains invalid commands or command parameters.
Conditions That Require a Re-Compile (Compiled Motion only):
•
If it is desired to change a compiled path's velocity, acceleration, or deceleration, the values must be
changed and then the path must be re-compiled.
•
If the scaling factors are changed, the program must be downloaded again.
•
Compiled Motion ONLY: After compiling (
PCOMP
) and running (
PRUN
) a compiled profile, the profile
segments will be deleted from compiled memory if you cycle power or issue a
RESET
command.
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