Table of Contents
Advertisement
When using compiled loops (PLOOP and PLN), the last segment within the loop must end at zero velocity
or there must be a final GOBUF segment placed outside the loop. Otherwise an error will result when the
profile is compiled. The error is "ERROR: MOTION ENDS IN NON-ZERO VELOCITY".
PLC PROGRAM EXAMPLE: see PLCP command description.
COMPILED MOTION EXAMPLE (see profile below)
DEF prog2
; Begin definition of program named prog2
A10
; Set A, V, and D values
V2
D2000
GOBUF1
; First segment of motion
V4
; New A, V, and D values
AD50
D1000
GOBUF1
; Second segment
END
; End definition of prog2
PCOMP prog2
; Compile prog2
PRUN prog2
; Execute prog2
velocity
4
2
1000
2000
[ PE ]
Position of Encoder
Type
Assignment or Comparison
Syntax
See below
Units
Encoder counts, or scaled by SCLD
Range
n/a
Default
n/a
Response
n/a
See Also
ENCCNT, [ FB ], GOWHEN, INFNC, [ PC ], [ PCE ], [ PER ],
PESET, PSET, SCALE, SCLD, SFB, TFB, TPE
The
operator is used to assign one of the encoder register values to a variable, or to make a comparison
PE
against another value.
Stepper axes: If the
ENCCNT1
factory default setting) the
PE
mode, the
value is always encoder counts and is never scaled by
ENCCNT1
PE
UNITS OF MEASURE and SCALING: refer to page
If you issue a
command, the encoder position value will be offset by the
PSET
are using a stepper axis in the
Syntax:
where "
VARn=PE
.
IF(PE>2345Ø)
Example:
VAR1=PE
; Encoder position is assigned to variable 1
IF(PE<4000)
; If the encoder position is less than 4000,
; do the IF statement
VAR2=PE+4000
; Encoder position plus 4000 is assigned
; to variable 2
COMPILED MOTION
distance
3000
mode is enabled
reports the encoder position, but in
PE
report represents the commanded position. NOTE: When operating in
mode, use the
ENCCNT1
PESET
" is the variable number, or
n
www.comoso.com
ENCCNT0
.
SCLD
16
or to the
command.
SCLD
command value. If you
PSET
command instead.
can be used in an expression such as
PE
Command Descriptions
Product
Rev
GT6K
6.0
GV6K
6.0
mode (the
229
Advertisement
Table of Contents
