Gemini GV6K and Gemini GT6K Programmer's Guide

Related Commands
GOBUF
Store a Motion Segment in Compiled Memory:
The GOBUF command creates a motion segment as part of a profile and places it in a segment
of compiled memory, to be executed after all previous GOBUF motion segments have been
executed. An individual axis profile is constructed by sequentially appending motion segments
using GOBUF commands. Each motion segment may have its own distance to travel, velocity,
acceleration, and deceleration.
The end of a GOBUF motion segment in preset mode is determined by the distance or position
specified. The end of a GOBUF motion segment in continuous mode is determined by the goal
velocity specified. In both cases, the final velocity and position achieved by a segment will be
the starting velocity and position for the next segment. If either type of segment is followed by
a GOWHEN command, the segment’s final velocity will be maintained until the GOWHEN
condition becomes true.
PLOOP & PLN
Loop Start & Loop End (Compiled Motion only):
The PLOOP and PLN commands specify the beginning and end of an axis-specific profile loop,
respectively. All segments defined between the PLOOP and PLN commands are included
within that loop.
VF & FOLRNF
GOWHEN
Final Velocity & Numerator of Slave-to-Master Final Ratio:
The VF and FOLRNF commands are used to designate that the motor will move the load the
distance designated in a preset GOBUF motion segment, completing the move at a final speed
of zero. The VF command is used when the Following mode is disabled (FOLENØ). The
FOLRNF command is used when the Following mode is enabled (FOLEN1).
Conditional GO:
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:
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 allow you to incorporate individual axis profiles
within compiled motion profiles. Compiled motion for the Gem6K series allows you to
construct complex motion programs using individual profiles (a series of GOBUF commands).
PEXE
Execute Compiled GOBUF Profile from PLC Program:
You can place a PEXE command inside a compiled PLCP program. When the PLCP program
is scanned in the PLC Scan Mode (SCANP), the PEXE command launches the specified
compiled profile in another task. For details on the PLC Scan Mode, see page 120.
146 Gem6K Series Programmer’s Guide