User`s manual

Contents
GFK-1742A Contents ix
Single-axis Program Structure...................................................................... 7-17
Single-Axis Program Example......................................................................7-17
Multi-Axis Program Structure ......................................................................7-18
Multi-Axis Program Example....................................................................... 7-18
Single-axis Subroutine Structure................................................................... 7-19
Single-Axis Subroutine Example.................................................................. 7-19
Multi-Axis Subroutine Structure...................................................................7-19
Multi-Axis Subroutine Example ................................................................... 7-20
Command Usage Examples ........................................................................................7-21
Absolute or Incremental Positioning.....................................................................7-21
Absolute Positioning...........................................................................................7-21
Incremental Positioning.......................................................................................7-21
Types of Acceleration...........................................................................................7-22
Linear Acceleration............................................................................................. 7-22
S-Curve Acceleration.......................................................................................... 7-22
Types of Programmed Move Commands ....................................................................7-23
Positioning Move (PMOVE) ................................................................................7-23
Continuous Move (CMOVE)................................................................................7-23
Programmed Moves..............................................................................................7-25
Example 1: Combining PMOVEs and CMOVEs ................................................ 7-25
Example 2: Changing the Acceleration Mode During a Profile............................7-26
Example 3: Not Enough Distance to Reach Programmed Velocity ...................... 7-26
Example 4: Hanging the Move When the Distance Runs Out.............................. 7-26
DWELL Command ..............................................................................................7-27
Example 5: DWELL .......................................................................................... 7-27
Wait Command ....................................................................................................7-28
Subroutines ..........................................................................................................7-28
Block Numbers and Jumps ...................................................................................7-28
Unconditional Jumps............................................................................................7-29
Example 6: Unconditional Jump.........................................................................7-29
Conditional Jumps................................................................................................ 7-29
Conditional Jump Example 1: ............................................................................. 7-30
Conditional Jump Example 2: ............................................................................. 7-30
Conditional Jump Example 3: ............................................................................. 7-30
Jump Testing........................................................................................................7-31
Example 7: Jump Testing................................................................................... 7-31
Normal Stop Before JUMP...................................................................................7-32
Example 8: Normal Stop Before JUMP ..............................................................7-32
Jumping Without Stopping ...................................................................................7-33
Example 9: JUMP Without Stopping..................................................................7-33
Jump Stop ............................................................................................................ 7-34
Example 10: Jump Stop......................................................................................7-34
Example 11: Jump Followed by PMOVE ...........................................................7-35
S-CURVE Jumps..................................................................................................7-35
S-CURVE Jumps after the Midpoint of Acceleration or Deceleration................... 7-35
Example 12: S-CURVE - Jumping After the Midpoint of Acceleration or
Deceleration ....................................................................................................... 7-35
S-CURVE Jumps before the Midpoint of Acceleration or Deceleration ................ 7-36