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COMEXC
Continuous Command Processing Mode
Type
Command Buffer Control
Syntax
<a_><!>COMEXC<b>
Units
b = 0 or 1
Range
0 = Disable, 1 = Enable
Default
0
Response
COMEXC:
*COMEXC0
See Also
[ ! ], A, AA, AD, ADA, COMEXL, COMEXS, D, ERRORP, FOLRD,
FOLRN, GO, GOWHEN, MA, MC, V
Use
to enable or disable Continuous Command Execution Mode. Under default operation
COMEXC
(
), when a motion command is received, command processing is temporarily paused until the
COMEXC0
motion is complete. In continuous command execution mode (
continues while motion is taking place. NOTE: Command processing will be slower and some motion
parameters cannot be changed while motion is in progress; for a complete list of motion parameters that
cannot be changed while motion is in progress, refer to the Restricted Commands During Motion section in
Chapter 1 of the Programmer's Guide.
The Continuous Command Processing Mode is useful in the following situations:
• When trying to check the status of inputs while the Gem6K is commanding motion.
• Performing calculations ahead of time, possibly decreasing cycle time.
• Executing buffered on-the-fly acceleration (
mode (
&
), Following ratio (
MA
MC
,
,
,
,
ADA
D
FOLRD
FOLRN
MA
For more information about on-the-fly motion changes, refer to the Programmer's Guide.
• Pre-processing the next move while the current move is in progress (see CAUTION note below). This
reduces the processing time for the subsequent move to only a few microseconds.
CAUTION
With continuous command execution enabled (COMEXC1), if you wish motion to stop
before executing the subsequent move, place a WAIT(AS.1=bØ) statement before
the subsequent GO command. If you wish to ensure the load settles adequately
before the next move, use the WAIT(AS.24=b1) command instead (this requires
you to define end-of-move settling criteria — see STRGTE command or the Target
Zone section in the Programmer's Guide for details).
Example:
DEL Prog1
; Delete program called Prog1
DEF Prog1
; Begin definition of program called Prog1
COMEXC1
; Enable continuous command execution mode
L50
; Loop 50 times
D50000
; Set distance to 50000 counts
GO1
; Initiate motion
; Normally at this point, the Gem6K drive would wait for the motion to complete
; before processing the next command. However, with continuous command execution
; enabled (COMEXC1), processing will continue with the statements that follow.
IF(IN.1=b1)
; Check for input #1 becoming active
OUT.3-1
; If it does, turn on output #3
ELSE
;
OUT.1-1
; If input #1 is not on, turn on output #1
NIF
WAIT(AS.1=b0)
; Wait for no commanded motion
LN
; End loop
COMEXC0
; Disable continuous command mode
END
; End definition of program
), and deceleration (
A, AA
&
), and velocity (
FOLRD
FOLRN
,
, or
change can be executed only with a buffered Go (
MC
V
: Avoid Executing Moves Prematurely
www.comoso.com
Product
GT6K
GV6K
), however, command processing
COMEXC1
), distance (
AD, ADA
) changes. (The buffered
V
GO
Command Descriptions
Rev
6.0
6.0
), positioning
D
,
,
,
A
AA
AD
) command.)
55
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