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PRUN
Run a Compiled Profile
Type
Compiled Motion; PLC Program
Syntax
<a_><!>PRUN<t>
Units
t = text (name of path program)
Range
text name of 6 characters or less
Default
n/a
Response
n/a
See Also
COMEXC, DEF, END, PCOMP, PUCOMP, GOBUF, PLCP, PLOOP, PLN,
SCANP
Use the
command to start execution of a previously compiled program (a
PRUN
program). All the required information about the program or path whose name is specified in the
command has already been stored by the definition commands (
command.
Executing
profiles: If the axis is not ready, a
GOBUF
ready if it is shutdown, moving, or in joystick mode. When execution of a pre-compiled program begins,
the axis becomes busy until motion has completed.
Executing PLC programs: When using
once (as opposed to invoking a continual scan loop when executing
command).
mode must be enabled in order for command processing to continue once a motion invoking
COMEXC1
command has been initiated with
mode, it functions as a
and returns control back to the original program after the embedded program's
GO
motion is started (control is returned to the first command immediately following the
mode, command processing will not continue until the motion invoking command has completed
COMEXCØ
its movement.
Example:
DEL prog1
; Delete prog1
DEF prog1
; Define prog1
MC0
; Preset positioning mode
D50000
; Distance is 50000
A10
; Acceleration is 10 revs/sec/sec
AD10
; Deceleration is 10 revs/sec/sec
V5
; Velocity is 5 revs/sec
GOBUF1
; 1st motion segment
D30000
; Distance is 30000
V2
; Velocity is 2 revs/sec
GOBUF1
; 2nd motion segment
END
; End definition of prog1
PCOMP prog1
; Compile prog1
PRUN prog1
; Execute prog1
PS
Pause Program Execution
Type
Program Flow Control
Syntax
<a_><!>PS
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
C, COMEXR, COMEXS, K, S, [ SS ], TSS
The
command pauses execution of commands in the command buffer. If a
PS
commands after the
will be executed until a
PS
may still be placed in the command buffer.
The
command does not pause motion. In order for motion to be paused, the
PS
commands should be used.
profile will not be executed. An axis is not
GOBUF
to execute a
PRUN
PLCP
. If you use the
command within a program while in
PRUN
PRUN
command is received. However, additional commands
!C
www.comoso.com
Product
GT6K
GV6K
profile, or a
GOBUF
and
) and compiled by the
DEF
END
program, the
program is run only
PLCP
programs with the
PLCP
command). If in
PRUN
Product
GT6K
GV6K
command is executed, no
PS
and the
S
COMEXS
Command Descriptions
Rev
6.0
6.0
PLCP
PRUN
PCOMP
SCANP
COMEXC1
Rev
6.0
6.0
239
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