Table of Contents
Advertisement
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
Use the
command to compile
PCOMP
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.
228
Gemini GV6K/GT6K Command Reference
profiles compile
GOBUF
PLCP
www.comoso.com
Product
GT6K
GV6K
programs for PLC Scan Mode. (For
Rev
6.0
6.0
Advertisement
Table of Contents
