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Start-motion type commands that cannot be synchronized using the
and
. A preset
command that is already in motion can start a new profile using the
PRUN
GO
sequence of commands. Continuous moves (
upon the
and
sequence. Both preset and continuous moves can be started from rest with the
GOWHEN
GO
and
sequence.
GOWHEN
GO
GOWHEN
Syntax:
GOWHEN
(expression)
Relational Expression Syntax:
(<left operand> <relational operator> <right operand>)
Possible Operators
Feedback device position
FB.........
Limit input state
LIM.......
Master cycle number
NMCY.....
Commanded position
PC.........
Encoder position
PE.........
Master position
PMAS.....
Slave position
PSLC.....
Following shift
PSHF.....
Input state
IN.........
Dwell (in miliseconds)
T...........
EXAMPLES
GOWHEN (PE>40000)
GOWHEN (IN.4=b1)
GOWHEN (PMAS>255)
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
or
command, but the change in motion is suspended due to a pending
FSHFD
status bit is cleared when the
command is executed. A
(e.g.,
or
).
!S1
!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
command is already true when the subsequent
GOWHEN
issued. To clear this error condition, issue another
check the program logic (use the
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.
148
Gemini GV6K/GT6K Command Reference
) already in progress can change to a new velocity based
MC1
Possible Operators
>=
<=
=
>
<
; 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
SCALING
condition is true or when a stop (
GOWHEN
command can be cleared using an axis-specific
GOWHEN
GOWHEN
and
features if necessary).
TRACE
STEP
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command are:
GOWHEN
Possible Operators
Numeric variables
(VAR or VARI)
Decimal constant
Binary value (b___)
for the IN and LIM
operators only
,
GO
GOWHEN
) or kill (
!S
!K
or
S
,
,
, or
GO
FGADV
FSHFC
FSHFD
command; or issue a
!K
,
,
,
HOM
JOG
JOY
and
GOWHEN
GO
,
,
FGADV
FSHFC
condition. This
or
)
^K
command
K
command is
command and
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