Bosch 6000 User's Guide download pdf (Page 180)

Chapter 5. Custom Profiling

165

Last Motion Segment

Must End At Zero

Velocity

When defining a profile, the last segment of motion in preset mode (MCØ) must end at zero

velocity. When not using compiled loops (PLOOP), and when in preset mode (MCØ), the last

GOBUF will automatically end at zero velocity. For example:

DEF P1 ; Begin definition of the P1 profile

MC0 ; Select preset positioning

MA0 ; Select incremental positioning

V1 ; Set velocity to 1 rps

; (assume no scaling)

D4000 ; Set distance to 4000

GOBUF1 ; First motion segment for axis 1

V2 ; Set velocity to 2 (second segment)

GOBUF1 ; Second motion segment

END ; End definition of P1

PCOMP P1 ; Compile the P1 profile

The first motion segment of this

profile consists of a 4000-step

move at 1 rps. The second motion

segment will ramp up to 2 rps,

and finish a 4000-step move at

zero velocity. The total distance

moved with this profile is 8000

steps.

With compiled loops (PLOOP and PLN), the last segment within the loop must end at zero

velocity or there must be a final segment placed outside the loop. Otherwise, an error

(“ERROR: MOTION ENDS IN NON-ZERO VELOCITY–AXIS n”) will be generated

when you try to compile the program with the PCOMP command (see example below).

DEF P2 ; Begin definition of the P2 profile

MC0 ; Select preset positioning

MA0 ; Select incremental positioning

D4000 ; Set distance to 4000

PLOOP5 ; Loop (between PLOOP & PLN) 5 times

V1 ; Set velocity to 1 rps

GOBUF1 ; First motion segment for axis 1

PLN1 ; End loop

END ; End definition of P2

PCOMP P2 ; Compile the P2 profile

This program will result in an

error when it is compiled, because

the last segment within the loop

does not end in zero velocity.

To avoid the compile error, you could change the loop to 4 (PLOOP4) and include a final

GOBUF1 command outside the loop (after the PLN1 command):

DEF P2 ; Begin definition of the P2 profile

MC0 ; Select preset positioning

MA0 ; Select incremental positioning

D4000 ; Set distance to 4000

PLOOP4 ; Loop (between PLOOP & PLN) 4 times

V1 ; Set velocity to 1 rps

GOBUF1 ; First motion segment for axis 1

PLN1 ; End loop

GOBUF1 ; Second motion segment for axis 1

END ; End definition of P2

PCOMP P2 ; Compile the P2 profile

The 4000-step move will be

repeated 4 times as part of the

loop in the first motion segment.

Because another GOBUF was

added after the loop, the second

motion segment (another 4000-

step move) will end at zero

velocity, as in the P1 profile

above. The total distance moved

with this profile is 20000 steps.

Another way to avoid the compilation error is to give the last segment in the loop a final

velocity of zero (VFØ command). Note that in this programming example, each pass through

the loop will end in a zero velocity.

DEF P3 ; Begin definition of the P3 profile

MC0 ; Select preset positioning

MA0 ; Select incremental positioning

D4000 ; Set distance to 4000

PLOOP5 ; Loop (between PLOOP & PLN) 5 times

V2 ; Set velocity to 2 rps

GOBUF1 ; First motion segment for axis 1

V1 ; Set velocity to 1 rps

VF0 ; Set final velocity to zero (0) rps

GOBUF1 ; Second motion segment for axis 1

PLN1 ; End loop

END ; End definition of P3

PCOMP P3 ; Compile the P3 profile

The motion sequence (4000-step

move at 2 rps ... 4000-step move

at 1 rps ... stop) will be repeated 5

times. The total distance traveled

will be 40000 steps.

1 2 ... 175 176 177 178 179 180 181 182 183 184 185 ... 267 268

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Bosch 6000 User's Guide Page 180

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