Bosch 6000 User's Guide download pdf (Page 179)

164

6000 Series Programmer's Guide

NOTE

During compilation (PCOMP), most commands are executed the same as if no profile were

being defined, even those which are not relevant to the construction of a profile. This is also

true of non-compiled motion commands embedded in a compiled motion program during

PCOMP. For this reason, it’s good to limit commands between DEF and END to those which

actually assist in the construction of the profile. Even for those that do actually assist in the

construction of the profile, such as A, V, and D, it is important to remember that the command

is executed and data actually changes, and it is not restored after compilation is completed.

Each motion segment in a compiled motion profile may have its own distance, velocity,

acceleration, and deceleration, as shown in the program example below:

Programming

Example

DEF simple ; Begin definition of program simple

MC0 ; Preset positioning mode (disable continuous mode)

MA0 ; Preset incremental positioning mode

D50000 ; Distance is 50000

A10 ; Acceleration is 10

AD10 ; Deceleration is 10

V5 ; Velocity is 5

GOBUF1 ; First motion segment for axis 1

D30000 ; Distance is 30000

V2 ; Velocity is 2

GOBUF1 ; Second motion segment for axis 1

D40000 ; Distance is 40000

V4 ; Velocity is 4

GOBUF1 ; Third motion segment for axis 1

END ; End program definition

PCOMP simple ; Compile simple

PRUN simple ; Run simple

The resulting profile from the above program:

D50000

D30000

D40000

STATUS COMMANDS:

Use these commands to

check the status of

compiled profiles.

System Status (TSSF, TSS, & SS commands):

• Bit #29 is set if compiled memory is 75% full.

• Bit #30 is set if compiled memory is 100% full.

• Bit #31 is set if a compile (PCOMP) failed; this bit is cleared on power-up, reset, or after

a successful compile. Possible causes include:

- Errors in profile design

(e.g., change direction while at non-zero velocity, distance & velocity equate to <1

count/system update, preset move profile ends in non-zero velocity).

- Profile will cause a Following error (see TFS & FS status).

- Out of memory (see system status bit #30)

- Axis already in motion at the time of the PCOMP command

- Loop programming errors (e.g., no matching PLOOP or PLN, more than 4 embedded

PLOOP/END loops)

TSEG & SEG: Reports the number of available segments in compiled memory.

TDIR: Identifies programs that are “compiled as a path” (compiled with the PCOMP

command) and reports the percentage of remaining compiled memory.

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Bosch 6000 User's Guide Page 179

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