User guide

Chapter 5. Custom Profiling 163
Compiled Motion Profiling
6000 Series products allow you to construct complex motion profiles for each individual axis.
The profiles may contain:
• Sequences of motion
• Loops
• Programmable output changes
• Embedded dwells
• Direction changes
• Trigger functions
Related Commands:
Brief descriptions of related commands
are found on page 169. For detailed
descriptions, refer to the 6000 Series
Software Reference .
☞
Contouring path
segments are also
stored in compiled
memory
(see page 13).
Compiled motion profiles are defined like programs (using the DEF and END commands); the
commands used to construct the motion profile segments are stored in a program (stored in
Program memory). This program is then compiled (using the PCOMP command) and the
compiled profile segments (GOBUF, PLOOP, GOWHEN, TRGFN, POUTA, POUTB, POUTC, and
POUTD statements) from the program are stored in Compiled memory. (TIP: The TDIR
command reports which programs are compiled as a compiled profile.) You can then execute the
compiled profile with the PRUN command.
The amount of RAM allocated for storing compiled profile segments is determined by the
MEMORY command setting. The table below identifies memory allocation defaults and limits for
6000 Series products. Further details on re-allocating memory are provided on page 12.
Feature AT6n00 AT6n00-M AT6n50 AT6n50-M All Other Products
Total memory (bytes) 64000 1500000 40000 150000 150000
Default allocation
(program,compiled)
33000,31000 63000,1000 39000,1000 149000,1000 149000,1000
Maximum allocation for
compiled profiles
1000,63000 1000,1499000 1000,39000 1000,149000 1000,149000
Max. # of compiled profiles 100 800 100 300 300
Max. # of compiled profile
segments
875 20819 541 2069 2069
-M refers to the Expanded Memory Option
CAUTIONS
• Issuing a memory allocation command (e.g., MEMORY1ØØØ,39ØØØ) will erase all existing
programs and compiled path segments. However, issuing the MEMORY command by itself
(i.e., MEMORY—to request the status of how the memory is allocated) will not affect existing
programs or segments.
• After compiling (PCOMP) and running (PRUN) a compiled profile. The profile segments will be
deleted from compiled memory if you cycle power or issue a RESET command.
After compiling (PCOMP), you can execute the profiles with the PRUN command, and all of
the motion and functions compiled into the profile are executed without any further commands
during profile execution.
For multi-axis products, profiles on any combination of axes may be launched simultaneously
with a single PRUN command. This provides a very powerful method of synchronizing the
action of multiple axes with very simple programming. For example, in a four-axis product,
one axis could be running a complex Following profile, while two other axes are contouring,
and the fourth could be performing a multi-tiered velocity motion profile.
Because the motion and functions are pre-compiled, delays associated with command
processing are eliminated during profile execution, allowing more rapid sequencing of actions
than would be possible with programs which are not compiled. Command processing is then
free to monitor other activities such as I/O and communications.