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Programmed Motion
GFK-1742A Chapter 7 Programmed Motion 7-23
7
Types of Programmed Move Commands
The following examples are not complete programs. For example, in many cases the PROGRAM
and ENDPROG statements are not shown. These statements (in correct context) would need to be
added to make the program compile successfully.
Positioning Move (PMOVE)
A PMOVE must always come to a complete stop. The stop must long enough to allow the
In Zone
%I bit to turn ON before the next move can begin.
A PMOVE uses the most recently programmed velocity and acceleration. If a VELOC command
has not been encountered in the motion program, the
Jog Velocity
is used as default. If an
ACCEL command has not been encountered in the motion program, the
Jog Acceleration
is used
as default.
Continuous Move (CMOVE)
A CMOVE does not stop when completed unless it is followed by a DWELL or a WAIT, the next
programmed velocity is zero, or it is the last program command. It does not wait for
In Zone
%I
bit to turn ON before going to the next move. A normal CMOVE is a command that reaches its
programmed position at the same time that it reaches the velocity of the
following
Move
command.
A CMOVE uses the most recently programmed velocity and acceleration. If a VELOC command
has not been encountered in the motion program, the
Jog Velocity
is used as default. If an
ACCEL command has not been encountered in the motion program, the
Jog Acceleration
is used
as default.
A special form of the CMOVE command can be used to force the DSM314 to reach the
programmed CMOVE position
before
starting the velocity change associated with the
next
move
command (that is, execute the entire CMOVE command at a constant velocity).
Programming
an incremental CMOVE command with an operand of 0 (for example: CMOVE 0, INCR,
LINEAR) will delay the servo velocity change until the
next
move command in sequence.
The following sequence of commands illustrates this effect (assume ACCELs are chosen to allow
motions to complete normally):
- GFK-1742 1
- GE Fanuc Manuals 1
- New In Stock! 1
- GE Fanuc Automation 3
- Warnings, Cautions, and Notes 4
- Content of This Manual 5
- Related Publications 6
- Contents 10
- Product Overview 19
- Versatile I/O 20
- PLC to DSM Data Transfers 22
- Local Logic 23
- DSM314 Position Strobes 24
- DSM314 Scan Time Contribution 24
- Software 25
- VersaPro 25
- Operator Interfaces 25
- Standard Mode Operation 28
- Follower Mode Operation 29
- Section 3: 30
- Series Servos (Digital Mode) 30
- Series Servo Motors 31
- Section 4: 32
- Getting Started 35
- Unpacking the DSM314 37
- Unpacking the FANUC Motor 37
- Connect the 47
- With Terminal Board 48
- Without Terminal Board 48
- External Regeneration 54
- Resistor 54
- VersaPro Program Folders 59
- Home Offset Value 0 0 0 66
- Return Data 1 Offset 66
- Return Data 2 Offset 0 0 0 66
- Motor Type (Digital Mode) 68
- Motion Time 70
- Generating Motion 71
- Enabling Run Mode on the PLC 71
- Configuration Settings 72
- Mission Accomplished! 73
- Important! 74
- I/O Connectors 77
- Shield Ground Connection 78
- I/O Circuit Types 82
- Terminal Boards 82
- Description 84
- Mounting Dimensions 86
- DIN-Rail Mount 89
- Panel Mount 89
- I/O Cable Grounding 95
- Installation and Wiring 101
- I/O Connection Diagrams 102
- January 2001 GFK-1742A 104
- IC693ACC336 Aux. Term. Board 105
- I/O Specifications 110
- Single Ended 5v Sink Input 112
- COMPARATOR 114
- OPEN COLLECTOR DRIVER 114
- 5v Differential Outputs 115
- SOLID STATE 116
- PTC DEVICE 119
- +5v Power 120
- Configuration 121
- Module Configuration 122
- Settings 123
- Number of Axes 124
- Control (CTL) Bits 128
- Output Bits 129
- Axis Configuration Data 130
- User Units, Counts 132
- Overtravel Limit Switch 134
- (Note 1) 144
- (Note 2) 144
- Velocity Loop Gain 150
- Advanced Tab Data 151
- Power Consumption Data 152
- GFK-1742A 5-1 153
- Section 1: %I Status Bits 154
- DSM to PLC Interface 155
- Section 2: %AI Status Words 159
- Description Axis Ref Bit 162
- Description Axis Ref 162
- Digital Mode 172
- Analog Mode 173
- 4.10 Jog Velocity 174
- Jog Acceleration 174
- Select Analog Output Mode 178
- Connector Codes 179
- Signal Codes 179
- Example 1: 180
- Example 2: 180
- Example 3: 180
- Non-Programmed Motion 182
- Home Switch Example 183
- 45741.cvs 184
- Jogging with the DSM314 186
- Move at Velocity Command 186
- Position Increment Commands 188
- Other Considerations 188
- Programmed Motion 189
- Motion Program Basics 193
- Variables 195
- Separators 195
- Motion Program Commands 196
- Block Number 197
- SUBROUTINE 202
- Sync Block 203
- Single-axis Program Structure 205
- Single-Axis Program Example 205
- Multi-Axis Program Structure 206
- Multi-Axis Program Example 206
- Multi-Axis Subroutine Example 208
- Command Usage Examples 209
- Types of Acceleration 210
- Linear Acceleration 210
- S-Curve Acceleration 210
- Positioning Move (PMOVE) 211
- Continuous Move (CMOVE) 211
- 15000 30000 40000 212
- Programmed Moves 213
- DWELL Command 215
- Example 5: DWELL 215
- Wait Command 216
- Subroutines 216
- Block Numbers and Jumps 216
- Unconditional Jumps 217
- Conditional Jumps 217
- Conditional Jump Example 1: 218
- Conditional Jump Example 2: 218
- Conditional Jump Example 3: 218
- Jump Testing 219
- Example 7: Jump Testing 219
- Normal Stop Before JUMP 220
- CTL03 ON 221
- Jump Stop 222
- Example 10: Jump Stop 222
- CTL01 ON 223
- C2 Begins 224
- Maximum Acceleration Time 226
- Feedhold with the DSM314 228
- Feedrate Override 229
- Multi-axis Programming 230
- Kinematic Equations 234
- Velocity 236
- Syntax Errors 237
- Semantic Errors 237
- Warnings 240
- Highlighted 241
- Error Message 241
- Follower Motion 242
- Master Sources 243
- External Master Inputs 243
- A:B Ratio 244
- Example 3: Sample A:B Ratios 245
- Velocity Clamping 246
- Unidirectional Operation 247
- Slave Axis #1 252
- Slave Axis #2 252
- Slave Axis #3 252
- 1 per Servo Axis 257
- GFK-1742A 9-1 258
- Control Sequence: 262
- October 2000 GFK-1742A 263
- GFK-1742A 10-1 264
- Requirements 268
- Getting Started with VersaPro 268
- Using the Local Logic Editor 270
- Local Logic Variable Table 272
- Main Window Menus 273
- Toolbars 281
- Series 90-30 PLC 284
- (RS-485) 284
- Personal Computer 284
- Running VersaPro Software 284
- Local Logic Tutorial 318
- Comments 319
- Operators 320
- Relational Operators 321
- Bitwise Logical Operators 321
- 4000 5000 329
- Local Logic Language Syntax 330
- Local Logic Variables 331
- Local Logic Statements 331
- Whitespace 333
- PRAGMA Directive 334
- Local Logic Outputs/Commands 335
- Operator + 337
- Operator 338
- Operator * 338
- Operator / 339
- Operator MOD 340
- Function ABS 341
- Operator BWAND 342
- Operator BWOR 343
- Operator BWXOR 343
- Operator BWNOT 344
- Comparison Operators 345
- Local Logic Runtime Errors 346
- Local Logic Error Messages 348
- Local Logic Parse Errors 349
- Local Logic Parse Warnings 351
- Local Logic System Variables 355
- System_Halt variable 356
- Local Logic User Data Table 357
- Table 13-2. Axis 2 Variables 359
- Local Logic Configuration 363
- New CTL bits CTL01-CTL32 364
- CTL01-CTL32 365
- Configuring the DSM314 374
- Stopping the PLC 378
- Store Operation 378
- Using the Motion Editor 379
- Saving your Motion Program 381
- Print Report: 385
- Section 1: Introduction 388
- Electronic CAM Overview 388
- Fill Tank 390
- Plunger Axis 390
- (S lave) 390
- Basic Cam Shapes/Definition 391
- Section 2: Cam Syntax 392
- CAM Types 392
- Circular Cyclic CAM 393
- Interpolation and Smoothing 395
- Boundary Conditions 397
- CAM Command 398
- CAM-LOAD Command 400
- CAM-PHASE Command 401
- CAM and MOVE Instructions 401
- Time-Based CAM Motion 401
- CAM-Specific DSM Error Codes 407
- CAM Execution Error Codes 408
- Step 1: Create a New Folder 410
- Step 3: Create a CAM Profile 414
- Step 6: Specify the CAM Type 419
- Step 8: Save the CAM Profile 421
- Mode to Digital Servo 431
- Error Reporting 438
- Error Code Format 439
- Response Methods 439
- System Error Codes 450
- LED Indicators 454
- Appendix 456
- DSM314 COMM REQ 458
- Corrective Action 459
- Monitoring the Status Word 460
- MSWD-TWM 468
- The Command Block 469
- Position Feedback Devices 478
- Postion Feedback Devices 480
- Analog Servo Systems 481
- Startup and Tuning 483
- Tuning Requirements 484
- Tuning the Position Loop 492
- Startup Procedures 494
- Local Logic Execution Time 497
- Example 2 499
- X- Not Applicable 502
- Local Logic Program Constants 504
- Strobe Accuracy Calculations 507
- Estimated assuming 509
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