User guide

86 6250 Servo Controller User Guide
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COMEXC Mode allows
faster execution of
subsequent moves
The COMEXC mode allows the 6250 to pre-process the next move while the current move is still in
motion. Then, when the current move is considered complete (on both axes), the 6250 simply
begins the next move. This reduces the processing time for the subsequent move to only a few
microseconds.
Avoid Executing Moves Prematurely
To avoid executing the next preset mode (MCØ) move before the load has settled to the
commanded position, use the Target Zone Mode (STRGTE11) to define the move completion
criteria (refer to the Target Zone section in Chapter 4 for more details).
Example
Command Description
> COMEXC1 Enable continuous command mode
> ERES4ØØØ Set encoder resolution for axis 1
> D2ØØØØ Set distance
>V2 Set velocity
> A1Ø Set acceleration
> GO1 Initiate motion on axis 1
> WAIT(1PE>5ØØØ) Wait for the actual position to exceed 5000 steps
> OUTXX1 Turn on programmable output #3
> WAIT(MOV=bØ) Wait for motion to complete on axis 1
> OUTXXØ Turn off programmable output #3
By enabling the continuous command execution mode, the program example above was able
to turn on output #3 after the motor had moved 5000 steps, but before the motor reached
20,000 steps. Normally, with COMEXC disabled, command processing would have been
temporarily stopped at the GO1 command until motion was complete.
Changing Acceleration & Velocity On The Fly
If the continuous command execution mode (COMEXC1) and the continuous mode (MC1) are
enabled, you can change acceleration and velocity parameters and initiate the new
parameters with subsequent GO commands while the axis is still in motion. Refer to the
Continuous Mode section in Chapter 5 for examples.
COMEXL
The COMEXL command enables saving the command buffer and maintaining program execution
when a hardware or software limit is encountered.
COMEXR
The COMEXR command affects whether a pause input (i.e., a general-purpose input configured
as a pause/continue input with the INFNCi-E command) will pause only program execution
or both program execution and motion.
COMEXRØ: Upon receiving a pause input, only program execution will be paused; any motion
in progress will continue to its predetermined destination. Releasing the pause
input or issuing a !C command will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be paused;
the motion stop function is used to halt motion. After motion has come to a stop
(not during deceleration), you can release the pause input or issue a !C command to
resume motion and program execution.
Other Ways to Pause
❏ Issue the PS command before entering a series of buffered commands (to cause motion,
activate outputs, etc.), then issue the !C command to execute the commands.
❏ While program execution is in progress, issuing the !PS command stops program
execution, but any move currently in progress will be completed. Resume program
execution with the !C command.
COMEXS
The COMEXS command affects saving the command buffer and maintaining program execution
upon receiving a stop input (a general-purpose input configured with the INFNCi-D
command) or a stop (!S or !S111) command.
COMEXSØ: Upon receiving a stop input or stop command, motion will decelerate at the preset
AD/ADA value, program execution will be terminated, and every command in the
buffer will be discarded.