Gemini GV6K and Gemini GT6K Programmer's Guide

Compiled Motion Profiling
Gem6K Series products allow you to construct complex individual axis motion profiles which
are compiled and saved. You can define separate and independent 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 139.
For detailed descriptions, refer to the
Gem6K Series Command Reference.
☞
PLCP programs are
stored in compiled
memory
(see page 11).
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, and POUTA 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 list below identifies memory allocation defaults and limits for
Gem6K Series products. Further details on re-allocating memory are provided on page 11.
Total memory (bytes) .........................................300,000
Default allocation (program,compiled)...............MEMORY150000,150000
Maximum allocation for compiled profiles ........MEMORY1000,299000
Maximum # of compiled profiles .......................300
Maximum # of compiled profile segments .........2069
CAUTIONS
• Issuing a memory allocation command (e.g., MEMORY70000,230000) 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.
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.
Chapter 6. Following 139