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L
Loop
Type
Loops; Program Flow Control
Syntax
<a_><!>L<i>
Units
i = number of times to loop
Range
0-999,999,999
Default
0
Response
L:
No response; instead, this has the same function as L0
See Also
C, COMEXS, LN, LX, PLN, PLOOP, PS, S
When you combine the Loop (
between
and
will be repeated the number of times specified by
L
LN
specified, all the commands between
issuing a Terminate Loop (
!LX
(
) command.
!HALT
The loop can be paused by issuing an immediate Pause (
in the COMEXS1 mode. The loop can then be resumed with the immediate Continue (
You may nest loops up to 16 levels deep.
Be careful about performing a
NOTE:
location within the same program will cause the next loop encountered to be nested within the
previous loop, unless an
Example:
DEL flash
; Delete program flash
DEF flash
; Begin definition of program flash
L5
; Repeat the commands between L and LN five times
A20
; Set acceleration to 20 revs/sec
D8300
; Set distance to 8300 counts
WAIT(AS.1=b0)
; Wait until no motion is commanded
OUTxxx1
; Turn on output #4
T.75
; Dwell for 0.75 seconds
OUTxxx0
; Turn off output #4
T.75
; Dwell for 0.75 seconds
LN
; End loop
END
; End definition
LDAMP
Load Damping
Type
System
Syntax
<a_><!>LDAMP<r>
Units
Rotary motor: r = Nm/rad/sec
Linear motor: r = N/meter/sec
Range
Rotary motor: 0.0000 to 1.0000 : ±0.0001
Linear motor: DMEPIT (electrical pitch) dependent
Default
0.0000
Response
LDAMP:
*LDAMP0.2000
See Also
DMTD, SGPRAT, SGVRAT, TGAIN, TSGSET
The
command specifies the damping provided by the mechanical load only, not including the motor
LDAMP
itself (which is specified by
DMTD
Working with servo gains.
• Servo tuning process: refer to the Hardware Installation Guide.
• Check the values of all active gains (
• Creating and invoking gain sets: see
(0 = infinite loop)
) command with the end of loop (
L
and
will be repeated indefinitely. The loop can be stopped by
L
LN
) command, an immediate Kill (
!PS
between the
GOTO
L
command has already been encountered.
LN
).
is one of many servo gains): use
LDAMP
,
,
SGSET
SGENB
www.comoso.com
) command, all of the commands
LN
. If
=
, or if no argument is
L<i>
<i>
Ø
) command, or an immediate Halt
!K
) command or a Stop (
) command, but only
!S
!C
and
commands. Branching to a different
LN
TGAIN.
,
TGAIN
TSGSET.
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
) command.
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
187
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