Groups 06/2005 Danaher Motion
134 Rev E M-SS-005-03l
MyGroup.StartType is set to GCOM. The second move begins after the first
move is complete. You must use STARTTYPE=GCOM when chaining a
move after non-zero velocity end- move. You cannot use
STARTTYPE=IMMED or SIMM because the new move overrides the old
move. When the movement ends with non-zero final velocity, the next
movement is started at the endpoint of the first movement or immediately, if
STARTTYPE of the next movement is IMMED or SIMM.
You can combine non-zero velocity end moves to produce profiles with as
many steps as needed. However, there are a few restrictions:
STARTTYPE for all non-zero velocity end moves (that is,
VELOCITYFINAL<>0) must be GCOM.
VELOCITYCRUISE and VELOCITYFINAL must be positive.
PFINAL of the succeeding move must be far enough in front of
PFINAL of the current move so the profile is possible with the
acceleration limits. An error is generated if this rule is violated.
The end position or the end velocity of a move in progress can be changed
by setting STARTTYPE=IMMED and issuing the second move. This move
command cancels the current move. For example issuing a move without
changing the velocity:
MyGroup.StartType = IMMED
Move MyGroup {150, -400}
Sleep 3000
Move MyGroup {150, -800}
As a second example, if you wanted to change the cruise velocity without
changing the end-position, you write:
MyGroup.StartType = IMMED
Move MyGroup {150, -400} abs=1
Sleep 3000
Move MyGroup {150, -400} abs=1 VCruise = 1500
You can change the final position, cruise velocity, and final velocity of any
executing move. Observe a few rules:
STARTTYPE must be IMMED or SIMM.
New and old VELOCITYCRUISE and VELOCITYFINAL must be
positive.
If the succeeding move changes PFINAL or VFINAL, it must remain
possible to create the profile with the axis acceleration limits.
6.10.5. Synchronize Multiple Axes
The MC provides the ability to synchronize many single axis and group
MOVEs so they all start simultaneously. This is useful when you have
multiple axes with moves that are largely independent, but must start at the
same time. It is also useful for coordinating a single axis with group.
Synchronization is controlled with <axis>.STARTTYPE, and SYNCSTART.
The feature allows you to load the motion generator with a motion command,
but delaying the generation of motion until SYNCSTART is issued.
