Bosch 6000 User's Guide download pdf (Page 104)

Chapter 3. Basic Operation Setup

Continuous Positioning Mode

The Continuous Mode (MC1) is useful in these situations:

• Applications that require constant movement of the load

• Synchronize the motor to external events such as trigger input signals

• Changing the motion profile after a specified distance or after a specified time period (T

command) has elapsed

You can manipulate the motor movement with either buffered or immediate commands. After

you issue the GO command, buffered commands are not executed unless the continuous

command execution mode (COMEXC1 command) is enabled. Once COMEXC1 is enabled,

buffered commands are executed in the order in which they were programmed. More

information on the COMEXC mode is provided on page 16.

The command can be specified as immediate by placing an exclamation mark (!) in front of the

command. When a command is specified as immediate, it is placed at the front of the command

queue and is executed immediately.

Example A

COMEXC1 ; Enable continuous command processing mode

COMEXS1 ; Allow command execution to continue after stop

MC1 ; Sets axis 1 mode to continuous

A10 ; Sets axis 1 acceleration to 10

V1 ; Sets axis 1 velocity to 1

GO1 ; Initiates axis 1 move (Go)

WAIT(1VEL=1) ; Wait to reach continuous velocity

T5 ; Time delay of 5 seconds

S1 ; Initiate stop of axis 1 move

WAIT(MOV=b0) ; Wait for motion to completely stop on axis 1

COMEXC0 ; Disable continuous command processing mode

The motor accelerates to 1 unit/sec, continues at that rate for 5 seconds, and then

decelerates to a stop.

Example B

DEF prog1 ; Begin definition of program prog1

COMEXC1 ; Enable continuous command processing mode

COMEXS1 ; Allow command execution to continue after stop

MC1 ; Set axis 1 to continuous positioning mode

A10 ; Set axis 1 acceleration to 10

V1 ; Set axis 1 velocity to 1

GO1 ; Initiate axis 1 move (Go)

WAIT(1VEL=1) ; Wait for motor to reach continuous velocity

T3 ; Time delay of 3 seconds

A50 ; Set axis 1 acceleration to 50

V10 ; Set axis 1 velocity to 10

GO1 ; Initiate acceleration and velocity changes on axis 1

T5 ; Time delay of 5 seconds

S1 ; Initiate stop of axis 1 move

WAIT(MOV=b0) ; Wait for motion to completely stop on axis 1

COMEXC0 ; Disable continuous command processing mode

END ; End definition of program prog1

While in continuous mode, motion can be stopped if:

• You issue an immediate Stop (!S) or Kill (!K or ctrl/K) command.

• The load trips an end-of-travel limit switch or encounters a software end-of-travel limit.

• The load trips a registration input (a trigger input configured with the INFNCi-H

command to function as a registration input).

• The load trips an input configured as a kill input (INFNCi-C) or a stop input

(INFNCi-D).

NOTE

While the axis is moving, you cannot change the parameters of some commands (such as ENC

and HOM). This rule applies during the COMEXC1 mode and even if you prefix the command with

an immediate command identifier (!). For more information, refer to

Restricted Commands

During Motion

on page 18.

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Bosch 6000 User's Guide Page 104

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