Gemini GV6K and Gemini GT6K Programmer's Guide

Continuous Positioning Mode
The Continuous Mode (MC1) is useful in these 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
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 (COMEXC1 command) is enabled. Once COMEXC1 is enabled,
buffered commands are executed in the order in which they were programmed. More
information on the COMEXC mode is provided on page 14.
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 A COMEXC1 ; Enable continuous command processing mode
COMEXS1
; Allow command execution to continue after stop
MC1
; Sets mode to continuous
A10 ; Sets acceleration to 10
V1 ; Sets velocity to 1
GO
; Initiates move (Go)
WAIT(VEL=1) ; Wait to reach continuous velocity
T5
; Time delay of 5 seconds
S1
; Initiate stop
WAIT(MOV=b0) ; Wait for motion to completely stop
COMEXC0
; Disable continuous command processing mode
; When the move is executed, the load will accelerate to 1 unit/sec,
; continue at that rate for 5 seconds, and then decelerate to a stop.
Example B DEF prog1 ; Begin definition of program prog1
COMEXC1
; Enable continuous command processing mode
COMEXS1
; Allow command execution to continue after stop
MC1
; Set to continuous positioning mode
A10 ; Set acceleration to 10
V1 ; Set velocity to 1
GO
; Initiate move (Go)
WAIT(VEL=1) ; Wait for motor to reach continuous velocity
T3
; Time delay of 3 seconds
A50 ; Set acceleration to 50
V10 ; Set velocity to 10
GO
; Initiate acceleration and velocity changes
T5
; Time delay of 5 seconds
S1
; Initiate stop
WAIT(MOV=b0) ; Wait for motion to completely stop
COMEXC0
; Disable continuous command processing mode
END
; End definition of program prog1
While in continuous mode, motion can be stopped if:
• You issue an immediate Stop (!S) or Kill (!K or ctrl/K) command.
• The load trips an end-of-travel limit switch or encounters a software end-of-travel limit.
• The load trips a registration input (a trigger input configured with the INFNCi-H
command to function as a registration input).
• The load trips an input configured as a kill input (INFNCi-C or LIMFNCi-C) or a
stop input (INFNCi-D or LIMFNCi-D).
NOTE
While the axis is moving, you cannot change the parameters of some commands (such as DRIVE
and HOM). This rule applies during the COMEXC1 mode and even if you prefix the command with an
immediate command identifier (!). For more information, refer to Restricted Commands During
Motion on page 17.
Chapter 3. Basic Operation Setup 73