PathMaster-REV-L-4.5-1.pdf - 第161页

Machine Operati on Manual Revision L / February 2020 Page 161 of 200 CR Circle. Select a radiu s, a start angle and the angle to be traversed . Move ment is counterclockwise in the Cartesian c oordina te system. Thi s is…

Machine Operation Manual

Revision L /

February 2020

Page 160 of 200

Cmd

Description

Example

Tips

AC Acceleration for

independent moves are in

counts per second squared

AC*=100000 (sets all

axes) ACX=100000

(only sets the X axis

acceleration)

Make sure the acceleration is

large enough to get the

motion to speed in a

reasonable amount of time

After move. This command

holds the program until the

movement on the specified

axes is completed

AM (wait for all axes to

finish its motion)

AMS (wait for

coordinate sequence

to finish motion)

The AM command tests for

profile completion. Use the AM

command to separate multiple

movements

After vector distance. This

command holds the program

until a specified distance

has been traveled with a

coordinated move, the units

are in counts

AV1000 (wait until the

axes have moved 1000

counts)

The AV command resets to

zero after every use. It can be

calculated by summing the

distances between each point

on the coordinated move

BG Begin. BG starts a motion on

an axis or a sequence

BGX (begin motion on

the X axis), BGS (begin

motion sequence), BG

(begin motion on all

axes)

A second BG command

cannot be given until the first

BG motion is finished. The AM

command can hold the

program until the first motion

is done. The exact axes to put

in motion must be given. The

BG command starts all the

axes according to the last

specified motions

Reverse Software Limit

Clear bit. Clears a bit on the

output port

CB40 (clears the bit for

the buzzer)

Clearing a bit in DMC

terminology turns the bit on.

The opposite of CB is SB (set

bit). A complete list of the

outputs can be found in the

Operating Guide

Machine Operation Manual

Revision L /

February 2020

Page 161 of 200

Circle. Select a radius, a start

angle and the angle to be

traversed. Movement is

counterclockwise in the

Cartesian coordinate

system. This is either

clockwise or

counterclockwise, as viewed

from the front of the

machine, and depends on

the setup of the machine. A

negative traverse angle

yields clockwise motion in

the Cartesian coordinate

system

CR 5000,90,180

arc with length of 5000

counts, starting at 90°

and doing a half circle

(180°)

The circle command is a

coordinated two-dimensional

move. The structure is the

same as all other coordinated

moves, using the VM, VP and

VE commands. A start angle of

0° gives a circle, relative to the

start point, entirely negative in

the X direction and half

positive, half negative in the Y.

Starting at 180° yields an

entirely positive X circle and a

half positive, half negative Y.

90° is an entirely negative Y

circle 180° entirely positive Y,

with both having X half

positive, half negative

Clear Sequence

Clears Memory of prior coordinated sequences

DC Deceleration for

independent moves. The

units are in counts per

second squared

DC*=100000 (sets all

axes), DCX=100000

(only sets the X axis

deceleration), DC

10000,30000,40000

(sets X, Y and Z

Decelerations

separately)

The higher the deceleration,

the faster an axis stops its

move

Dual (Auxiliary) Encoder

Position

Download. This transfers a

text file from the computer

to the controller

DL (then select a text

file to download)

Use the HX (halt execution)

command before using DL.

Damage may result otherwise

EN End. This terminates a

subroutine, program thread

or program

The Dispensing System also

has a subroutine used for a

conditional end. The command

JP#NOOP operates the same as

the EN command

Forward Software Limit

Halt execution. Halts the

execution of the program or

any of its threads

HX1 (halt thread 1)

HX (halt the entire

program)

Always use the HX command

before executing a DL

command

Machine Operation Manual

Revision L /

February 2020

Page 162 of 200

Jog

JP Jump to a program location.

Locations are marked by

labels. This command can be

used in a conditional

statement and the jump

occurs if the conditional is

true

JP#NOOP (jump to

location #NOOP),

JP#NOOP,COUNT>10

(jump to location

#NOOP if the value of

COUNT exceeds 10)

It is important not to confuse

JP with JS. Using a JP when a

JS is required results in the

thread being halted once the

EN command is reached

Jump to subroutine.

Subroutines are marked by

labels

JS#H1UP (jump to

subroutine #H1UP)

It is important not to confuse

JS with JP. Using a JS when a

JP is required can result in

“nesting” the program

continuously until a nesting

error occurs. Subroutines can

only be nested 16 deep

LI Linear Interpolation Distance

Linear Interpolation Mode

List. The operator can list a

single line or multiple lines of

the program in a terminal

screen

LS 300,0 (show line

300), LS 250,270

(show lines 250 to

270), LS (show all

lines in memory)

If a runtime error occurs, use

the LS command in the

terminal screen to check the

line containing the error

MG Message. This command

sends data out the bus. It

can also be used by the

operator to query the

controller for information

MG “Path Complete”

(displays the message

“Path Complete” on

the terminal screen),

MG@IN[60] (displays

the value of input 60,

where 0 is on and 1 is

off)

Do not put message commands

in programs! If there are

message commands, and there

is no computer attached to the

workcell, the controller halts

once the output buffer is full

Motor off. Shuts off motor

control

MO (turn all motors

off), MOX (turn off

only the X axis motor)

MO shuts off the motor(s).The

motors are reactivated with the

SH (servo here) command

Reverse Motion to Position

Motor Type

NO No operation. This command

performs no action and is

used to comment a program

NO!!! PROGRAM 1!!!!

(description for

program)

A semicolon (;) terminates the

NO command. Any statements

following a semicolon are

executed