Table of Contents
Advertisement
GO
Initiate Motion
Type
Motion
Syntax
<a_><!>GO<b>
Units
n/a
Range
b = 1 (go); or blank
Default
1
Response
GO:
No response; instead, motion is initiated
See Also
A, AA, AD, ADA, COMEXC, D, GOBUF, GOWHEN, K, LH, LS, MA, MC,
PSET, S ,SCLA, SCLD, SCLV, SSV, TAS, TEST, V
The
command instructs the motor to make a move using motion parameters that have been previously
GO
entered. Several commands affect the motion that will occur when a
,
,
, and
.
LH
LS
MA
MC
The
command and the
GO1
GO
If motion does not occur after a
hardware or software end-of-travel limits have been encountered.
On-The-Fly (Pre-emptive GO) Motion Profiling
While motion is in progress (regardless of the positioning mode), you can change these motion
parameters "on-the-fly" (OTF) to affect a new profile:
• Acceleration (A) — S-curve acceleration is not supported in OTF motion changes
• Deceleration (AD) — S-curve acceleration is not supported in OTF motion changes
• Velocity (V)
• Distance (D)
• Preset or Continuous Positioning Mode Selection (MC)
• Incremental or Absolute Positioning Mode Selection (MA)
• Following Ratio Numerator and Denominator (FOLRN and FOLRD, respectively)
The motion parameters can be changed by sending the respective command (e.g., A, V, D, MC, etc.)
followed by the GO command. If the continuous command execution mode is enabled (COMEXC1), you can
execute buffered commands; otherwise, you must prefix each command with an immediate command
identifier (e.g., !A, !V, !D, !MC, etc., followed by !GO). The new GO command pre-empts the motion
profile in progress with a new profile based on the new motion parameter(s).
For more information, refer to the Custom Profiling section in the Programmer's Guide.
Example:
SCALE1
; Enable scaling
SCLA25000
; Set the accel. scale factor to 25000 steps/unit
SCLV25000
; Set the velocity scale factor to 25000 steps/unit
SCLD1
; Set the distance scaling factor to 1 step/unit
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
MA0
; Incremental positioning mode
MC0
; Preset positioning mode
A10
; Set the acceleration to 10 units/sec/sec
V1
; Set the velocity to 1 units/
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
END
; End definition of proga
144
Gemini GV6K/GT6K Command Reference
command both start motion.
command has been issued, check
GO
www.comoso.com
Product
GT6K
GV6K
is received:
,
,
,
GO
A
AA
AD
ADA
bits 15-18 to ascertain if the
TAS
Rev
6.0
6.0
,
,
,
D
V
Advertisement
Table of Contents
