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On-the-fly Velocity, Acceleration and Deceleration Change Example:
DEF vsteps
; Begin definition of program vsteps
COMEXC1
; Enable continuous command execution mode
MC1
; Set mode to continuous
A10
; Set acceleration to 10 rev/sec/sec
V1
; Set velocity to 1 rps
GO1
; Initiate move
WAIT(VEL=1)
; Wait for motor to reach continuous velocity
T3
; Time delay of 3 seconds
A50
; Set acceleration to 50 rev/sec/sec
V10
; Set velocity to 10 rps
GO1
; Initiate move
T5
; Time delay of 5 seconds
S1
; Initiate stop of move
WAIT(MOV=b0)
; Wait for motion to completely stop
COMEXC0
; Disable continuous command execution mode
END
; End definition of program vsteps
COMEXL
Continue Execution on Limit
Type
Command Buffer Control
Syntax
<a_><!>COMEXL<b>
Units
b = 0 or 1
Range
0 = Disable, 1 = Enable
Default
0
Response
COMEXL:
*COMEXL0
See Also
COMEXC, COMEXS, ERROR, LH, LIMLVL, LS
determines whether the command buffer will be saved upon hitting a hardware end-of-travel limit
COMEXL
(LH), or a soft limit (
). If save command buffer on limit is enabled (
LS
following the command currently being executed will remain in the command buffer when a limit is hit. If
save command buffer on limit is disabled (
and program execution will be terminated.
Example:
COMEXL1
; Save the command buffer if the limit is hit.
COMEXR
Continue Motion on Pause/Continue Input
Type
Command Buffer Control
Syntax
<a_><!>COMEXR<b>
Units
b = 0 or 1
Range
0 = disable, 1 = enable
Default
0
Response
COMEXR:
*COMEXR0
See Also
C, COMEXS, INFNC
The
command determines the functionality of programmable inputs defined as pause/continue inputs
COMEXR
with the
command. When the input is activated, the command being processed will be allowed to
INFNCi-E
finish executing.
: Upon receiving a pause input, only program execution is paused; any motion in progress will
COMEXRØ
continue to its predetermined destination. Releasing the pause input or issuing a
will resume program execution.
: Upon receiving a pause input, both motion and program execution will be paused; the motion
COMEXR1
stop function is used to halt motion. After motion stops, you can release the pause input or issue
a
command to resume motion and program execution.
!C
56
Gemini GV6K/GT6K Command Reference
COMEXL1
), then every command in the buffer will be discarded,
COMEXLØ
www.comoso.com
Product
Rev
GT6K
6.0
GV6K
6.0
), then all commands
Product
Rev
GT6K
6.0
GV6K
6.0
command
!C
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