User`s manual

Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-45
7
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The motion program LOAD command.
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The
Load Parameter Immediate
%AQ command.
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The COMM_REQ function block. This is the preferred way if you need to send multiple
parameters per scan. The COMM_REQ function block is described in Appendix B.
Assigning a value to a parameter overwrites any previous value. Parameter values can be changed
during program execution, but the change must occur before the DSM314 begins executing the
Type 3 command (Move, Wait or Dwell) previous to the Type 3 command that uses the
parameter. This is due to the pre-processing of Type 3 commands that occurs within the DSM314.
Note that a JUMP command clears pre-processing and forces the program commands at the jump
target to be processed.
Below is an example of a motion program using Parameters. The values of Parameters 1-5 are
pre-loaded with a COMREQ command from the PLC at least two program blocks before usage.
(Remember that “program blocks” are not the same as sections of the motion program that are
labeled with the BLOCK # command.)
Block/Command/Data Comments
1:
VELOC P001 // Set velocity of first move = value in Parameter 1
ACCEL P002 // Set acceleration of first move = value in Parameter 2
CMOVE P003, ABS, LINEAR // Reach velocity of 2nd move (20000) at position = Par.
3
2: VELOC 20000 // Set velocity of second move = 20000
PMOVE 20000, INCR, LINEAR // Normal PMOVE
DWELL P004 // Dwell for Parameter 4 time
PMOVE P005, INCR, LINEAR // PMOVE to value in Parameter 5
(* Strobe #1 occurs on Axis-1 during move to Param. 5 position *)
DWELL 1000 // Dwell for one second
LOAD P006,2000 // Load Parameter 6 parameter
3:
PMOVE P224, INCR, LINEAR // Move to strobed position for Strobe #1 on axis-1
DWELL 2000 // Dwell for two seconds
PMOVE P006, ABS, S-CURVE // Final stop position = value in Parameter 6