User guide

➄ Basic 6250 Features 53
Continuous Mode
The Continuous Mode (MC) is useful in the following situations:
❏ Applications that require constant movement of the load
❏ Synchronize the motor to external events such as trigger input signals
❏ Changing the motion profile after a specified distance or after a specified time period (T
command) has elapsed
Buffered vs.
Immediate
Commands
You can manipulate the motor movement with either buffered or immediate commands. After
you issue the GO command, buffered commands are not executed unless the continuous command
execution mode (COMEXC command) is enabled. Once COMEXC is enabled, buffered commands
are executed in the order in which they were programmed. For more information on the
COMEXC mode, refer to the Command Control section in Chapter 7, Programming Tips.
The command can be specified as immediate by placing an exclamation mark (!) in front of the
command. When a command is specified as immediate, it is placed at the front of the
command queue and is executed immediately.
Example
Command Description
> COMEXC1 Enable continuous command processing mode
> MC1 Sets axis 1 mode to continuous
> A1Ø Sets axis 1 acceleration to 10 rps
2
> V1 Sets axis 1 velocity to 1 rps
> GO1 Initiates axis 1 move (Go)
> WAIT(1VEL=1) Wait for motor to reach continuous velocity
>T5 Time delay of 5 seconds
>S1 Initiate stop of axis 1 move
> WAIT(MOV=bØ) Wait for motion to completely stop on axis 1
> COMEXCØ Disable continuous command processing mode
The motor accelerates to 1 rps and continues at 1 rps for 5 seconds, at which point it
decelerates to a stop. While in continuous mode, motion can also be stopped if:
❏ You issue an immediate Stop (!S) or Kill (!K) command
❏ The load trips an end-of-travel limit switch
❏ The load trips an input configured as a kill or stop input with the INFNCi-C or INFNCi-D
commands, respectively.
On-The-Fly
Changes
You can change velocity and acceleration on the fly (while motion is in progress) by issuing an
immediate velocity (!V) and/or acceleration (!A) command followed by an immediate go (!GO). If
the continuous command processing mode (COMEXC) is enabled, you can also make on-the-fly
velocity and acceleration changes by using buffered commands (V and A), followed by a GO
command.
NOTE
While the axis is moving, you cannot change the parameters of some commands (such as D
and HOM). This rule applies during the COMEXC mode and even if you prefix the command with
an immediate command identifier (!). For more information, refer to the Restricted Command
Parameter During Motion section of the 6000 Series Software Reference Guide .
Example
Command Description
> DEF vsteps Begin definition of program vsteps
- COMEXC1 Enable continuous command processing mode
- MC1 Set axis 1 mode to continuous
- A1Ø Set axis 1 acceleration to 10 rps
2
- V1 Set axis 1 velocity to 1 rps
- GO1 Initiate axis 1 move (Go)
- WAIT(1VEL=1) Wait for motor to reach continuous velocity
-T3 Time delay of 3 seconds
- A5Ø Set axis 1 acceleration to 50 rps
2
- V1Ø Set axis 1 velocity to 10 rps
- GO1 Initiate acceleration and velocity changes on axis 1
-T5 Time delay of 5 seconds
-S1 Initiate stop of axis 1 move
- WAIT(MOV=bØ) Wait for motion to completely stop on axis 1
- COMEXCØ Disable continuous command processing mode
- END End definition of program vsteps