User guide

114 6000 Series Programmer's Guide
FMCNEW Function: (TRGFNcx1xxxxx) Allows a new Following master cycle to begin
when the specified trigger input (c) goes active. For additional details on
master cycles, refer to page 208 or to the FMCNEW command description.
These trigger functions are cleared once the function is complete. To use the trigger to perform a
GOWHEN function again, the TRGFN command must be given again.
Sample
6000 Code
INFNC26-H ; Assign trigger B (TRG-B) on the AT6400 (input #26) to
; function as a trigger interrupt input.
TRGFNBx1xxxxxx 1 ; When trigger “B” (TRG-B) goes active, axis 1 will
; begin a new master cycle and axis 2 will execute the
; move commanded with the GO command.
GO01 ; The move on axis 2 is commanded, but will not execute
; until TRG-B becomes active.
Registration If registration is enabled (with the RE command), activating a trigger interrupt input will initiate
registration move(s) defined with the REG command.
Refer to page 182 for details on the Registration feature.
Interrupt to PC-AT
(INFNCi-I)
Bus-based Products
Only
☞
DIP switch settings are
provided in the product's
installation guide.
An input specified as an Interrupt to PC -AT input will interrupt the PC-AT when the input
goes active, if bit 27 of the hardware interrupt enable (INTHW) command is enabled. For the
interrupt to be received by the PC-AT itself, one of the 8 interrupt DIP switches (S2) on the
controller card must be enabled. Once the input has been activated, the interrupt will activate.
It is the responsibility of the corresponding interrupt service routine to determine the cause of
the interrupt. The cause of the interrupt can be determined by reading the interrupt status from
the fast status area (see page 43), or by using the TINT command. If the cause of the
interrupt was an input, bit 27 of the interrupt status will be set.
Jogging the
Motor
(INFNCi-aJ)
(INFNCi-aK)
(INFNCi-aL)
In some applications, you may want to manually move (jog) the load. The jog mode is
enabled with the JOG command. You can configure the jog functions with these INFNC
commands:
INFNCi-aJ..... Jog in the positive counting direction when the input is active, stop
when the input is inactive.
INFNCi-aK..... Jog in the negative counting direction when the input is active, stop
when the input is inactive.
INFNCi-aL..... Select the high (JOGVH) or low (JOGVL) velocity setting for jog
motion. Activating the input selects high velocity, deactivating the
input selects low velocity.
The jog profile is defined with these commands listed below. NOTE: If scaling is enabled
(SCALE1) the velocity is scaled by SCLV and accel/decel is scaled by SCLA.
JOGVH............. High velocity range for jogging. The high velocity is used when the
jogging speed-select input (configured with INFNCi-aL) is active.
JOGVL............. Low velocity range for jogging. The low velocity is used when the
jogging speed-select input (configured with INFNCi-aL) is inactive.
JOGA............... Jog acceleration
JOGAA............. Jog acceleration (s-curve profile)
JOGAD............. Jog deceleration
JOGADA........... Jog deceleration (s-curve profile)