Gemini GV6K and Gemini GT6K Programmer's Guide

2. Teach the Data
to the Data
Program
The data that you wish to write to the data elements in the data program must first be placed
into numeric variables (VAR). Once the data is stored into numeric variables, the data elements
in the data program can be edited by using the Data Pointer (DATPTR) command to move the
data pointer to that element, and then using the Data Teach (DATTCH) command to write the
datum from the numeric variable into the element.
When the DATSIZ command is issued, the internal data pointer is automatically positioned to
data element #1. Using the default settings for the DATPTR command, the numberic variable
data is written to the data elements in sequential order, incrementing one by one. When the
last data element in the data program is written, the data pointer is automatically set to data
element #1 and a warning message (*WARNING: POINTER HAS WRAPPED AROUND
TO DATA POINT 1) is displayed. The warning message does not interrupt program
execution.
The DATPTR command syntax is DATPTRi,i,i. The first integer (i) represents the data
program number (1 through 50). The second integer represents the number of the data element
to point to (1 through 6500). The third integer represents the number of data elements by
which the pointer will increment after writing each data element from the DATTCH command,
or after recalling a data element with the DAT command.
The DATTCH command syntax is DATTCHi. Each integer (i) represents the
number of a numeric variable. The value of the numeric variable will be stored into the data
element(s) of the currently active data program (i.e., the program last specified with the last
DATSIZ or DATPTR command). As indicated by the number of integers in the syntax, the
maximum number of variable values that can be stored in the data program per DATTCH
command is 4. Each successive value from the DATTCH command is stored to the data
program according to the pattern established by the third integer of the DATPTR command.
As an example, suppose data program #1 is configured to hold 13 data elements
(DATSIZ1,13), the data pointer is configured to start at data element #1 and increment 1
data element after every value stored from the DATTCH command (DATPTR1,1,1), and the
values of numeric variables #1 through #3 are already assigned (VAR1=2, VAR2=4,
VAR3=8). If you then enter the DATTCH1,2,3 command, the values of VAR1 through VAR3
will be assigned respectively to the first three data elements in the data program, leaving the
pointer pointing to data element #4. The response to the TPROG DATP1 command would be
as follows (the text is highlighted to illustrate the final location of the data pointer after the
DATTCH1,2,3 command is executed):
*DATA=+2.Ø,+4.Ø,+8.Ø,+Ø.Ø
*DATA=+Ø.Ø,+Ø.Ø,+Ø.Ø,+Ø.Ø
*DATA=+Ø.Ø,+Ø.Ø,+Ø.Ø,+Ø.Ø
*DATA=+Ø.Ø
If you had set the DATPTR command to increment 2 data elements after every value from the
DATTCH command (DATPTR1,1,2), the data program would be filled differently and the
data pointer would end up pointing to data element #7:
*DATA=+2.Ø,+Ø.Ø,+4.Ø,+Ø.Ø
*DATA=+8.Ø,+Ø.Ø,+Ø.Ø,+Ø.Ø
*DATA=+Ø.Ø,+Ø.Ø,+Ø.Ø,+Ø.Ø
*DATA=+Ø.Ø
3. Recall the Data
from the Data
Program
After storing (teaching) your variables to the data program, you can use the DATPTR command
to point to the data elements and the DATi (“i” = data program number) data assignment
command to read the stored variables to your motion program. You cannot recall more than
one data element at a time; therefore, if you want to recall the data in a one-by-one sequence,
the third integer of the DATPTR command must be a 1 (this is the default setting).
Chapter 3. Basic Operation Setup 111