Bosch 6000 User's Guide download pdf (Page 202)

Chapter 5. Custom Profiling

187

GOWHEN

Syntax

GOWHEN (expression),(expression),(expression), . . .

Relational Expression Syntax:

Axis 1 Axis 2 Axis 3

(<left operand> <relational operator> <right operand>)

Possible Operators:

FB........Feedback device position

NMCY....Master cycle number

PC........Commanded position

PE........Encoder position

PM........Motor position

PMAS....Master position

PSLC....Slave position

PSHF....Following shift

IN........Input state

T..........Dwell (in milliseconds)

Possible Operators:

• Numeric variable (VAR)

• Decimal constant

• Binary value (b___)

for IN operator only

EXAMPLES

GOWHEN(1PE>4ØØØØ) ; suspend the next GO until axis 1 encoder position > 4ØØØØ

GOWHEN(IN.6=b1) ; suspend the next GO until input #6 is activated (b1)

GOWHEN(2PMAS>255) ; suspend the next GO until the master for axis 2 has

; traveled 255 master distance units

SCALING

If scaling is enabled (SCALE1), the right-hand operand is multiplied by SCLD if the left-hand

operand is FB, PC, PE, PM, PSLV, or PSHF. The right-hand operand is multiplied by the SCLMAS

value if the left-hand operand is PMAS. (The SCLD or SCLMAS values used correlate to the axis

specified with the variable–e.g., a GOWHEN expression with 3PE scales the encoder position by

the SCLD value specified for axis 3.)

GOWHEN

Status

Axis Status — Bit #26: Bit #26 is set when motion has been commanded by a GO,

GOL, FSHFC, or FSHFD command, but is suspended due to a pending GOWHEN condition.

This status bit is cleared when the GOWHEN condition is true or when a stop (!S) or kill (!K

or ^K) command is executed. An individual axis' GOWHEN command can be cleared using an

axis-specific S or K command (e.g., !S11XØ or !KØXX1).

AS.26 ...... Assignment & comparison operator — use in a conditional expression (see pg. 25).

TASF........ Full text description of each status bit. (see “Gowhen is Pending” line item)

TAS ......... Binary report of each status bit (bits 1-32 from left to right).

See bit #26.

Further

instructions

about handling

error conditions

are provided on

page 30.

Error Status — Bit #14: Bit #14 is set if the position relationship specified in the

GOWHEN command is already true when the GO, GOL, FSHFC, or FSHFD command is issued.

The error status is monitored and reported only if you enable error-checking bit #14 with the

ERROR command (e.g., ERROR.14-1). NOTE: When the error occurs, the controller with

branch to the error program (assigned with the ERRORP command).

ER.14 ...... Assignment & comparison operator — use in a conditional expression (see pg. 25).

TERF........ Full text description of each status bit. (see “GOWHEN condition true” line item)

TER ......... Binary report of each status bit (bits 1-32 from left to right).

See bit #14.

GOWHEN ...

On A Trigger

Input

If you wish motion to be triggered with a trigger input, use the TRGFNc1xxxxxxx

command. The TRGFNc1xxxxxxx command executes in the same manner as the GOWHEN

command, except that motion is executed when the specified trigger input (c) is activated. For

more information, refer to Trigger Functions below.

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