Calculated Industries 6250 Guide de l'utilisateur télécharger pdf (Page 102)

11/25/96

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6270 Programming Tips

COMEXS1: Upon receiving a stop input or stop command, motion will decelerate at the preset

AD/ADA value, program execution will pause, and all commands following the

command currently being executed will remain in the command buffer.

Resuming program execution (only after motion has come to a stop):

Whether stopping as a result of a stop input or Stop (!S or !S1111)

command, you can resume program execution by issuing an immediate

Continue (!C) command or by activating a pause/resume input (a general-

purpose input configured with the INFNCi-E command—see COMEXR

discussion above).

If you are resuming after a stop input or !S1111 command, the move in

progress will not be saved.

If you are resuming after a !S command, you will resume the move in

progress at the point where the !S command was received by the processor.

COMEXS2: Upon receiving a stop input or stop command, motion will decelerate at the preset

AD/ADA value, and program execution will be terminated, but the INSELP value

is retained. This allows external program selection, via inputs defined with the

INFNCi-B or INFNCi-iP commands, to continue.

Program Flow Control

Program flow refers to the order in which commands will be executed, and whether they will

be executed at all. In general, commands are executed in the order in which they are received.

However, certain commands can redirect the order in which commands will be processed.

The GOTO command is a branch without a return to a group of commands. The GOSUB

command is a compact way to execute a group of commands starting with a DEF command and

ending with a END command, then proceeding with the command following the GOSUB.

GOTO and GOSUB require program names or labels as destinations and both can be used either

unconditionally or as part of IF, REPEAT, or WHILE commands. The L and LN pair is a

convenient way to execute a group of commands a pre-determined number of times without

having to repeat those commands.

The WAIT command suspends program flow until the specified condition is met. A variety of

conditions can be waited on, including input patterns, time, move complete, and others.

Unconditional Looping and Branching

Unconditional

Looping

The Loop (L) command is an unconditional looping command. You may use this command

to repeat a series of commands. You can nest Loop commands up to 16 levels deep.

Command Description

> PS Pauses command execution until the 6250 receives an

Immediate Continue (!C) command

MAØ Sets unit to Incremental mode

A5Ø Sets acceleration to 50 rps

V5 Sets velocity to 5 rps

L5 Loops 5 times

D2ØØØ Sets distance to 2,000 steps

GO1 Executes the move (Go)

T2 Delays 2 seconds after the move

LN Ends loop

!C Initiates command execution to resume

(The motor moves a total of 10,000 steps.)

1 2 ... 97 98 99 100 101 102 103 104 105 106 107 ... 137 138

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Calculated Industries 6250 Guide de l'utilisateur Page 102

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