User guide

170 6000 Series Programmer's Guide
GOWHEN Conditional GO:
The GOWHEN command has been modified to allow use in compiled motion profiles. Now,
when GOWHEN is compiled in a profile, the GOWHEN condition is stored as part of that profile
instead of being executed immediately. When progress through the profile reaches the
compiled GOWHEN, AS.26 is set, and the next segment’s execution will be suspended until
the GOWHEN condition becomes true. This allows subsequent GOWHEN and GOBUF
combinations to be issued and stored, instead of overriding each other.
TRGFN Trigger Functions:
The TRGFN command has been modified to allow use in compiled motion profiles. Now,
when TRGFN is compiled in a profile, the TRGFN condition is stored as part of that profile
instead of being executed immediately. When progress through the profile reaches the compiled
TRGFN, the embedded trigger functions are assigned to that trigger. AS.26 is set if the
GOWHEN function has been assigned to the trigger, and the next segment’s execution will be
suspended until the specified trigger input goes active. This allows subsequent TRGFN,
GOWHEN, and GOBUF combinations to be issued and stored, instead of overriding each other.
PCOMP, PRUN
& PUCOMP
Compile a Program, Run a Compiled Program, & Un-Compile a Compiled Program:
The PCOMP, PRUN, and PUCOMP commands have been modified to incorporate individual axis
profiles within compiled motion profiles. Compiled motion for the 6000 series now allows
the user to construct complex motion programs using an individual contour (a series of arcs
and lines), individual axis profiles (a series of GOBUF commands), or a path (combination of
contours and individual axis profiles).
POUTA,
POUTB,
POUTC,
POUTD
Output During Compiled Motion Profile — Axes 1, 2, 3 & 4:
The POUTA, POUTB, POUTC, and POUTD commands turn the programmable output bits on
and off for axes 1, 2, 3 and 4, respectively.
TSEG & SEG Transfer/Display (TSEG) or Assign (SEG) the Number of Free Segment Buffers:
The TSEG command returns the number of free segment buffers in compiled memory. The
SEG command is used to assign the number of free segment buffers in compiled memory to a
variable or to make a comparison against another value.
Compiled Motion — Sample Application 1
A manufacturer has an application where wire is being wrapped onto a spindle. There is a
motor controlling the rotational speed of the spindle. Every application of the spindle requires
that the motor runs at a fast speed with a slow acceleration for the first few revolutions, a
medium speed for the next couple of revolutions, and a slower speed as the spindle gets fuller
to maintain somewhat of a constant velocity off the feed wire. The technician would like to
use an RP240 to enter the velocity and number of revolutions for each stage of winding.
Programmable outputs 1, 2 and 3 are wired to status LEDs, and should go on for the
respective stages of winding (output 1 for stage 1, etc.).
Profile
v
t
Distance of
first stage
Distance of
second stage
Distance of
third stage