Geckodrive

GM215 MISCELLANEOUS COMMANDS

______________________________________________________________________________________________________________

OUTPUT                                                                                                                                                                   MISCELLANEOUS COMMAND

 

Syntax:                     a OUT n c <ENTER>

Operands:               aX or Y or Z or W axis name

                                n = 1 or 2 or 3

                                c = ON, OFF, BR, RS, ER         

Operation:               Outputs OUT1 or OUT2 or OUT3

Dependence:           None

Type:                        The command value is local.

Description: Turns a hardware output ON or OFF

Examples:

 

X OUT 3 ON <ENTER>

                                X means the X axis is selected.

                                OUT is the output command.

                                3 is the hardware output number 3.

                                ON means turn this output ON.

                                <ENTER> means the command entry is complete.

Y OUT 1 BR <ENTER>

                                BR is Busy/Ready status.

                                Output1 of Y axis is set to reflect Busy/Ready status.

Z OUT 2 RS <ENTER>

                                RS is the R/S status.

                                Output2 of Z axis is set to reflect R/S status.                   

W OUT 3 ER <ENTER>

                                ER is the Error status.

                                Output3 of W axis is set to reflect ER status.                   

_______________________________________________________________________________________________________________

COMPARE                                                                                                                                                               MISCELLANEOUS COMMAND

 

Syntax:                     a COMPARE VALUE n <ENTER>

Operands:               aX or Y or Z or W axis name

                                0 =< n <= 16,777,215             

Operation:               Stores the value n to the COMPARE register

Dependence:           None

Type:                        The command value is global.

Description: This command is used in conjunction with the IF-THEN-ELSE command when a variable has to be compared against a stored COMPARE value

 

Example:

X COMPARE VALUE 32767 <ENTER>

                                X means the X axis is selected.

                                COMPARE VALUE is the COMPARE command.

                                32767 is the value to be stored in the COMPARE register.

                                <ENTER> means the command entry is complete.

 

EXAMPLE CODE:

 

EXAMPLE0: MOVE A MOTOR

 

    x configure: 1 amps, idle at 50% after 1 seconds

    x limit cw 100000

    x offset 1000

    analog inputs to {0}                          ; NO AXIS USING ANALOG                  

    vector axis are {0}                             ; NO AXIS USING VECTOR

    x acceleration 64                               ; RUN ACCELERATION

    x velocity 200                                    ; RUN VELOCITY

motion:

    x+1000

    x-1000

    goto motion                                    ; REPEAT. INFINITE LOOP

 

EXAMPLE1:   BASIC POINT TO POINT MOTION

 

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000

y_config:

    y configure: 1.5 amps, idle at 71% after 2.5 seconds

    y limit cw 12000000

    y offset 1000

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    y acceleration 512

    y velocity 1000

    home x, y                                           ; X & Y GO HOME SIMULTANEOUSLY

    analog inputs to {0}                          ; NO AXIS USING ANALOG                  

    vector axis are {0}                             ; NO AXIS USING VECTOR

    x acceleration 128                            ; RUN ACCELERATION

    x velocity 8000                                 ; RUN VELOCITY

    y acceleration 128                           

    y velocity 8000

motion1:

    x+10000, y+10000

    x-10000, y-10000

    goto motion1                                 ; REPEAT. INFINITE LOOP

 

EXAMPLE2: BASIC VECTOR MOTION

 

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000 

y_config:

    y configure: 1.5 amps, idle at 71% after 2.5 seconds

    y limit cw 12000000

    y offset 1000

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    y acceleration 512

    y velocity 1000

    home x, y                                           ; X & Y GO HOME SIMULTANEOUSLY

    vector axis are x, y                            ; X & Y AXIS VECTOR MOTION

    x acceleration 128

    y acceleration 128

    x velocity 8000                                 ; SET DIFFERENT VELOCITY FOR TESTING

    y velocity 4000

motion1:

    x+10000, y+10000          

    x-10000, y-10000           

    goto motion1                                    ; INFINITE LOOP

 

EXAMPLE3: POINT TO POINT MOTION, SPEED CONTROLLED BY TRIM POT(ANALOG)

 

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000

y_config:

    y configure: 1.5 amps, idle at 71% after 2.5 seconds

    y limit cw 12000000

    y offset 1000

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    y acceleration 512

    y velocity 1000

    home x, y                                           ; X & Y GO HOME SIMULTANEOUSLY

    analog inputs to x, y                         ; X & Y AXIS USING ANALOG CONTROL                            

    vector axis are {0}                             ; NO AXIS USING VECTOR

motion1:

    x+10000, y+10000                           ;

    x-10000, y-10000

    goto motion1                                    ; INFINITE LOOP

 

EXAMPLE4: RUN MOTION UNDER ABSOLUTE POSITION SYSTEM

 

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000  

y_config:

    y configure: 1.5 amps, idle at 71% after 2.5 seconds

    y limit cw 12000000

    y offset 1000

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    y acceleration 512

    y velocity 1000

    home x, y                                           ; X & Y GO HOME SIMULTANEOUSLY

    vector axis are x, y                            ; X & Y AXIS VECTOR MOTION

    x acceleration 128                            ; RUN ACCELERATION

    y acceleration 128

    x velocity 8000                                  ; RUN VELOCITY

    y velocity 8000

motion1:

    x 2000, y 2000                                 ; ABS POSITION. USEFUL FOR DRAWING, CUTTING, ETC.

    x 1500, y 2500

    x 2500, y 1500

    x 2000, y 2000

    x 0, y 0              

    goto motion1                                    ; INFINITE LOOP

 

EXAMPLE5: USING JOG COMMAND

 

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000  

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    home x                                               ; X AXIS GO HOME

    x acceleration 128                            ; RUN ACCELERATION

    x velocity 8000                                 ; RUN VELOCITY

 

    jog x                                                    ; JOG MODE. NEED HARDWARE LOGIC TO EXIT

    goto start                                           ; INFINITE LOOP

 

EXAMPLE 6: USING SPD CONTROL COMMAND

    x configure: 1 amps, idle at 71% after 2.5 seconds 

    x limit cw 12000000

    x offset 1000  

    x acceleration 128                           

    x velocity 8000                                

    x speed control +1000                     ; SPEED CONTROL MODE. NEED HARDWARE LOGIC TO EXIT

end:

    goto end                                            ; INFINITE LOOP

 

EXAMPLE 7: USING SPD CONTROL COMMAND (ANALOG)

    x configure: 1 amps, idle at 71% after 2.5 seconds 

    x limit cw 12000000

    x offset 1000  

    x acceleration 128                           

    x velocity 8000

    analog inputs to x                             ; X AXIS ANALOG. TRIM4 &TRIM5 CAN CHANGE SPD

    x speed control +1000                     ; SPEED CONTROL MODE. NEED HARDWARE LOGIC TO EXIT

end:

    goto end                                            ; INFINITE LOOP

 

EXAMPLE8: USING POSITION ADJUST COMMAND

x_config:

    x configure: 1 amps, idle at 71% after 2.5 seconds

    x limit cw 12000000

    x offset 1000  

start:

    x acceleration 512                            ; GO HOME ACCELERATION

    x velocity 1000                                 ; GO HOME VELOCITY

    home x                                               ; X AXIS GO HOME

    x acceleration 128                            ; RUN ACCELERATION

    x velocity 8000                                 ; RUN VELOCITY

    x+3000

    x position adjust +/-2000                ; TRIM5 CAN CHANGE MOTOR POSITION

end:

    goto end                                            ; INFINITE LOOP