Parker Automation Gemini GV6K Command Reference Manual

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p/n 88-019933-01 A

G emini GV6K and

A utomation

G emini GT6K

C ommand R eference

Effective: October 1, 2001

www.comoso.com

Table of Contents

Summary of Contents for Parker Automation Gemini GV6K

Page 1 p/n 88-019933-01 A G emini GV6K and A utomation G emini GT6K C ommand R eference Effective: October 1, 2001 www.comoso.com...
Page 2 U ser I nformation WARNING Gem6K Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof.
Page 3 Introduction Purpose of this Document This document is a reference for all the Gem6K Series commands. To gain a full understanding of how the Gem6K Series commands are used together to implement specific features, refer to the Gem6K Series Programmer’s Guide (p/n 88-019934-01). For hardware-related information (e.g., electrical wiring connections, specifications, tuning, etc.), refer to the Gem6K Series Hardware Installation Guide (p/n 88- 019932-01).
Page 4 *INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE (response indicates all inputs are enabled). The example responses provided are based on the default error level, Error Level 4, established with the ERRLVL4 command. See Also: Commands related or similar to the command described are listed here. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 5: Introduction
Syntax – Letters and Symbols The command descriptions provided within this manual use alphabetic letters and ASCII symbols within description (see example below) to represent different parameter requirements. Syntax INEN Input Enable Type Inputs or Program Debug Tools Product → Syntax <!><%>INEN<d><d><d>...<d>...
Page 6: Input
Identifier (%) command with a specific task. 1%move1 Check the error status for Task 3: 3%TER Check the system status for Task 3: 3%TSS NOTE: The command line is limited to 80 characters (excluding spaces). Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 7 Syntax – Command Value Substitutions Many commands can substitute one or more of its command field values with one of these substitution items (demonstrated in the programming example below): VAR ..... Places current value of the numeric variable in the corresponding field of the command. VARB...
Page 8 • CD-ROM drive or internet access for installation. • Mouse or pointing device. • RS-232C serial port for using serial RS-232C communications. Insert the Motion Planner CD in your CD-ROM player. The installation program automatically launches and displays this dialog: Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 9 Updating the Drive’s Operating System Gem6K drives are digital motor drives that run under an internal software operating system. The operating system was loaded into your drive during the manufacturing process, and under ordinary circumstances you will not need to update your drive’s operating system. However, because Compumotor continues to add enhancements and address software bugs, you may want to upgrade the operating system.
Page 10: Input
Positive end-of-travel limit Negative end-of-travel limit Home limit * The functions listed are the factory default functions; other functions may be assigned with the LIMFNC command. Sample response to (limit inputs status) command: TLIM *TLIM110 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 11: Table Of Contents
Inputs (“DRIVE I/O” connector) Input bit pattern for TIN, IN, INFNC, INLVL, INEN, INPLC, INSTW, and ONIN: Bit # Pin # Function * Input 1 (if assigned, TRIG-A) Input 2 (if assigned, TRIG-B) Input 3 Input 4 Input 5 (if assigned, TRIG-M) * If the input is assigned the “trigger interrupt”...
Page 12: Output
0000_0000 AAAA_AAAA 25-32: ANALOG INPUTS 0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000 *BRICK 2: SIM Type Status Function 1-8: DIGITAL OUTPUTS 0000_0000 AAAA_AAAA -- SINKING 9-16: DIGITAL INPUTS 0000_0000 AAAA_AAAA 17-24: NO SIM PRESENT 25-32: DIGITAL OUTPUTS 0000_0000 AAAA_AAAA -- SOURCING Gemini GV6K/GT6K Command Reference www.comoso.com...
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Programming Error Messages Depending on the error level setting (set with the command), when a programming error is created, ERRLVL the Gem6K will respond with an error message and/or an error prompt. A list of all possible error messages is provided in a table below.
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Commands During Motion section in the Programmer's Guide.) Following: The FOLEN1 command was given while that follower was moving in a non-Following mode. NEST LEVEL TOO DEEP IFs, REPEATs, WHILEs, or GOSUBs nested greater than 16 levels (for each type). Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 15: Output
Programming Error Messages (continued) Error Response Possible Cause NO MOTION IN PROGRESS Attempting to execute a command that requires motion, but motion is not in progress. Compiled Profile compilation error. NO PATH SEGMENTS DEFINED NO PROGRAM BEING DEFINED END command issued before a DEF command. NOT ALLOWED IN PATH Compiled Profile path compilation error.
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2. Using Motion Planner's terminal emulator, download the program to the Gem6K Series product. Notice that an error response identifies the bad command as an “ ” item and displays it: INCORRECT DATA > *NO ERRORS *INCORRECT DATA > *IF(VAR1<)16 Gemini GV6K/GT6K Command Reference www.comoso.com...
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S-Curve Acceleration/Deceleration Profiling The Gem6K allows you to perform S-curve move profiles, in addition to the usual trapezoidal profiles. S-curve profiling provides smoother motion control by reducing the jerk (rate of change) in acceleration and deceleration portions of the move profile (see drawing below). Because S-curve profiling reduces jerk, it improves position tracking performance, especially in linear interpolation applications.
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; Set avg. accel to 10 revs/sec/sec AD10 ; Set max. decel to 10 revs/sec/sec ADA10 ; Set avg. decel to 10 rev/sec/sec ; Set velocity to 5 revs/sec ; Execute motion ; End definition of program #2 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 19 Calculating Jerk Rules of Motion: Jerk (Programmed Accel) Zero Acceleration (x = distance) (Programmed Velocity) Assuming the accel profile starts when the load is at zero velocity and the ramp to the programmed velocity is not compromised: * AA Jerk = J V (A-AA) Zero Velocity Ø...
Page 20 • If you intend to upload a program with scaled motion parameters, be sure to use Motion Planner. Motion Planner automatically uploads the scaling parameters and places them at the beginning of the program file containing the uploaded program from the Gem6K. This ensures correct scaling when the program file is later downloaded. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 21 Acceleration & Deceleration Scaling (SCLA) Stepper Axes: If scaling is enabled (SCALE1), all accel/decel values entered are internally multiplied by the acceleration scaling factor to convert user units/sec/sec to commanded counts/sec/sec. The scaled values are always in reference in commanded counts, regardless of the existence of an encoder.
Page 22 This truncation error can accumulate over a period of time, when performing incremental moves continuously in the same direction. To eliminate this truncation problem, set SCLD or SCLMAS to 1, or a multiple of 10. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 23 Scaling Example — Steppers (GT6K) We configure for a 25,000 step/rev system attached to 5-pitch leadscrew. The user wants to program motion parameters in inches; therefore the scale factor calculation is: 25,000 steps/rev x 5 revs/inch = 125,000 steps/inch. For instance, with a scale factor of 125,000, the operator could enter a move distance value of 2.000 and the controller would send out 250,000 pulses, corresponding to two inches of travel.
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Page 25 Special Programming Characters Task Identifier Type Product Multi-Tasking Syntax <a_>i%<command> GT6K Units i = task number GV6K Range 1-10 Default Response See Also LOCK, [SWAP], [TASK], TSKAX, TSKTRN, TSWAP, TTASK Use the Task Identifier ( Gx6K Drive prefix to specify that the Task Management Program Memory associated command will affect...
Page 26 All Gem6K commands are buffered. The commands that use the identifier are identified in the Syntax portion of the command description. NOTE A command with the ! prefix cannot be stored in a program. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 27: Output
[ @ ] Global Command Identifier Type Product Operator (Other) Syntax @<command><field1> GT6K Units GV6K Range Default Response See Also ANIEN, ANIRNG, INEN, INLVL, OUT, OUTALL, OUTEN, OUTLVL, TANI, TANO, TIN, TIO, TOUT The Global Command Identifier ( ) is used to set the value of all fields to the value entered only in the first field.
Page 28: Output
; Execute 1 command from program; command to execute is D1 ; Execute 1 command from program; command to be executed is GO1 ; Execute 2 commands from program; commands to be executed are ; OUT11X1 and END Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 29: Output
Enter Interactive Data Type Product Operator (Other) Syntax !'<numeric data> GT6K Units Numeric data is command-dependent GV6K Range Numeric data is command-dependent Default Response See Also [ READ ], VARI, VARS To enter data interactively, two operations must occur. First, numeric information must be requested. Requesting the numeric information is accomplished with the command.
Page 30 There are three ASCII characters that cannot be used within the quotes ( , and ). These characters must " be specified in the string by using the backslash character ( ) in combination with the ASCII decimal value for the character. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 31 An ASCII table is provided in Appendix B. Common characters and their ASCII equivalent value: Character Description ASCII Decimal Value Line Feed <lf> Carriage Return <cr> Quote " Colon Semi-colon Backslash Example: WRITE"cd\92GEM6K\13\10" ;Displays: cd\GEM6K<cr><lf> [ = ] Assignment or Equivalence Product Type Operator (Mathematical or Relational)
Page 32 ) operator is used to compare two values. If the value on the left of the operator is <= less than or equal to the value on the right of the operator, then the expression is TRUE. If the value on the Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 33 left is greater than the value on the right of the operator, then the expression is FALSE. The less than or equal operator ( ) can only be used to compare two values. <= More than one ( ) operator can be used within a single command; however, the total command length is <= limited to 80 characters.
Page 34 The total command length must be less than 80 characters. The order of precedence is left to right. The Operation Priority Level ( ) operators can be used; however, they cannot be nested. Examples of valid commands: VAR1=1*2*3*4*5*6*7*8*9 VAR2=VAR1-1+(5*3) VARB1=b111101 * b11001 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 35 [ / ] Division Type Product Operator (Mathematical) Syntax See Below GT6K Units GV6K Range Default Response See Also [ = ], [ () ], [ + ], [ - ], [ * ], [ SQRT ], VAR, VARI, VARB The division ( ) operator divides the value to the left of the operator by the value on the right of the operator.
Page 36 VARI exclusive OR on the two values to the left and right of the operator when used with the command. VARB For a logical exclusive OR (using ), the possible combinations are as follows: VARI Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 37 positive number ^ positive number positive number ^ zero or a negative number zero or negative number ^ positive number zero or negative number ^ zero or negative number = 0 Example: VAR1=5 ^ -1 Result: VAR1=1 For a bitwise exclusive OR (using ), the value on the left side of the operator has each of its bits VARB...
Page 38 VARB1=b1111 0000 1111 >> b001 Response to VARB1 is *VARB1=0000_1111_0000_1111_XXXX_XXXX_XXXX_XXXX Example: VARB1= h45FA2 >> h4 Response to VARB1 is *VARB1=0000_0010_1010_1111_0101_0100_0000_0000 The total command length must be less than 80 characters. The order of precedence is left to right. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 39 Send Response to Both Communication Ports Type Product Communication Interface Syntax <a_><!> [ <command><field1> GT6K Units GV6K Range Default Response See Also BOT, PORT, ], ECHO, EOL, EOT, LOCK The Send Response to All Ports ( [ ) command is used to send the response from the command which follows it to both communication ports.
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Page 41 Command Descriptions Acceleration Type Product Motion Syntax <a_><!>A<r> GT6K Units r = units/sec/sec GV6K (linear motors: see DMEPIT for linear/rotary conversion) Range 0.0001 – 9999.9999 Default 10.0000 Response *A10.0000 See Also [ A ], AA, AD, ADA, DRES, ERES, GO, MC, SCALE, SCLA, TSTAT, DMEPIT, IF, VARI, WAIT The Acceleration ( ) command specifies the acceleration rate to be used upon executing the next...
Page 42 ; Select incremental positioning mode D40000 ; Set distance to 40,000 positive-direction counts ; Set max. accel to 10 revs/sec/sec ; Set avg. accel to 5 revs/sec/sec AD10 ; Set max. decel to 10 revs/sec/sec Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 43 ADA5 ; Set avg. decel to 5 revs/sec/sec ; Set velocity to 5 revs/sec ; Execute motion ; End definition of prog1 DEL Prog2 ; Delete program called prog2 DEF Prog2 ; Begin definition of prog2 ; Select incremental positioning mode D40000 ;...
Page 44 ). The other way is to enable the continuous command execution mode ( ) and COMEXC1 execute a buffered deceleration command ( ) followed by a buffered go command ( Example: (refer to the AA command description) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 45 ADDR Multiple Unit Auto-Address Type Product Drive Configuration Syntax <a_><!>ADDR GT6K Units i = unit number GV6K Range 0 to 99 Default Response ADDR: *ADDR0 See Also BAUD, E, PORT command automatically configures unit addresses for a daisy-chain or multi-drop. The factory ADDR default address for a Gem6K drive is address zero (0).
Page 46 IF(1ANI.1<8.2) ; If voltage value at analog input 1 on brick 1 < 8.2V, do the ; commands between the IF statement and the NIF statement. TREV ; Transfer revision level ; End if statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 47 ANIEN Analog Input Enable Type Product Inputs Syntax To enable only: <a_><!><@>ANIEN<.i>=<E> GT6K To override only: <a_><!><@>ANIEN<.i>=<r> GV6K Units B = I/O brick number i = input location on I/O brick “B” E = Enable r = volts Range B = 0-8 i = 1-32 (dependent on I/O brick configuration) r = -10.000 to +10.000 (voltage override value) Default...
Page 48 [ ANO ], DMONAS, DMONAV, DMONBS, DMONBV, TANO, TIO Use the command to assign a voltage of an analog output associated with an analog output SIM. NOTE: See the commands for information on controlling the onboard analog monitors. DMONxx Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 49 Performance: Each analog output channel is updated once every 16ms (2ms per analog output channel). Each DAC has 10-bit granularity, giving approximately 20 mV/bit over the 20 volt range. PLC Mode: When commanding an analog output ANO Value = (Vout + 10) x 4095 / 20 using PLC mode, the raw DAC value must be used.
Page 50 Negative-direction hardware limit hit. This is not a “fault LHØ or GO in opposite direction. condition”. LSØ or GO in opposite Positive-direction Software Limit (LSPOS) Hit. direction. LSØ or GO in opposite Negative-direction Software Limit (LSNEG) Hit. direction. Position Error --------- Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 51 RESERVED --------- RESERVED --------- RESERVED --------- 23 * Position error exceeded (SMPER). DRIVE1 In Target Zone (defined with STRGTD & STRGTV). This bit is set only after the successful completion of a move (if STRGTD and STRGTV criteria have been satisfied). This bit is usable even if the Target Zone mode is not enabled (STRGTE0).
Page 52 32, the bit select ( ) operator can be used. The bit select, in conjunction with the bit number, is used to specify a specific axis status bit (e.g., VARB1=ASX.3 assigns status bit 3 to binary variable 1). Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 53 Example: VARB1=ASX ; Extended Axis status assigned to binary variable 1 VARB2=ASX.3 ; Extended Axis status bit 3 assigned to binary variable 2 VARB2 ; Response if bit 3 is set to 1: ; "*VARB2=XX1X_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX" IF(ASX=b101XXXXX) ; If the extended axis status contains 1's ;...
Page 54 ; Execute program prog1 If the statement evaluates true, the message * will be transferred out. A BREAKPOINT NUMBER 1 command must be issued before processing will continue. Once processing has continued, the second break Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 55 point command will be encountered, again the message * will be transferred out, BREAKPOINT NUMBER 2 and processing of commands will pause until a second command is received. BREAK Terminate Program Execution Product Type Program Flow Control Syntax <a_><!>BREAK GT6K Units GV6K Range...
Page 56 (number of hours since the drive was powered up or TDHRS RESET • (measured temperature of the drive in centigrade) TDTEMP • (estimated temperature of the motor in centigrade for GV6K only; GT6K always reports TMTEMP zero) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 57 COMEXC Continuous Command Processing Mode Type Product Command Buffer Control Syntax <a_><!>COMEXC GT6K Units b = 0 or 1 GV6K Range 0 = Disable, 1 = Enable Default Response COMEXC: *COMEXC0 See Also [ ! ], A, AA, AD, ADA, COMEXL, COMEXS, D, ERRORP, FOLRD, FOLRN, GO, GOWHEN, MA, MC, V to enable or disable Continuous Command Execution Mode.
Page 58 : Upon receiving a pause input, both motion and program execution will be paused; the motion COMEXR1 stop function is used to halt motion. After motion stops, you can release the pause input or issue command to resume motion and program execution. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 59 Example: COMEXR1 ; Allow both motion and program execution to be paused upon ; receiving a pause input 2INFNC1-E ; Define input 1 on I/O brick 2 as a pause/continue input COMEXS Continue Execution on Stop Product Type Command Buffer Control Syntax <a_><!>COMEXS...
Page 60 ) must be placed around the operand. RADIAN The result will be specified to 5 decimal places. Example: VAR1=5 * COS(PI/4) ; Set variable 1 equal to 5 times the cosine of ; π divided by 4 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 61 Distance Type Product Motion Syntax <a_><!>D<r> GT6K Units r = distance units (scalable by SCLD) GV6K ±999,999,999.99999 Range Default 4000 Response *D+4000 See Also [ D ], DMEPIT, DRES, ERES, GO, IF, MA, MC, PSET, SCLD, TSTAT, VARI, WAIT The Distance ( ) command defines either the number of units the motor will move or the absolute position it will seek after a command.
Page 62 The GT6K drive provides damping features that reduce vibration, increase low- speed smoothness, and decrease load settling time. (A procedure for configuring damping settings is provided in the Configuration chapter of the Hardware Installation Guide.) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 63 Command Damping Function Velocity * Default Related Parameters * DABSD ABS Damping. Load-independent damping 0 to 0.2 revs/sec ** Disabled DMTRES, DMTIND at extreme low speeds. This feature targets applications that require minimal zero-speed settling (e.g., pick-and-place applications). DELVIS Electronic Viscosity. This feature targets 0 to 3 revs/sec ** Disabled DMTJ, DMTSTT, DPOLE,...
Page 64 DATA DATPi will contain the array of data to be recalled by the command. Upon completion of the definition, the DATi internal data pointer is pointing to the first datum in the data program. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 65 Example: DEF DATP5 ; Define data program 5 DATA=1,2,3,4 ; Enter data DATA=5.62,6.52,7.12,8.47 ; Enter data ; End program definition A(DAT5) ; Load data from data program 5 and store in axis acceleration. ; Axis acceleration = 1 V(DAT5) ; Load data from data program 5 and store in axis velocity. ;...
Page 66 ; Load data from data program 5 and store in axis acceleration. ; Axis acceleration = 1 A(DAT5) ; Load data from data program 5 and store in axis acceleration. ; Axis acceleration = 2 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 67 DATSIZ Data Program Size Type Product Data Storage Syntax <a_><!>DATSIZi<,i> GT6K Units GV6K Range 1st i = program # 0 - 50 (0 = disable) 2nd i = data element # 1 - 6500 Default Response See Also [ DAT ], DATPTR, [ DATP ], DATTCH command creates a new data program ( ) and establishes the number of data elements the DATSIZ...
Page 68 1 data element after every value is stored ( ), and the values of numeric variables #1 through #4 are already DATTCH DATPTR1,1,1 assigned ( ). If you then enter the command, the VAR1=2 VAR2=4 VAR3=8 VAR4=64 DATTCH1,2,3,4 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 69 values of through will be assigned respectively to the first four data elements in the data VAR1 VAR4 program and the pointer will stop at data element #5. The response to the command would TPROG DATP1 be as follows (the text is highlighted to illustrate the location of the data pointer after the DATTCH1,2,3,4 command is executed).
Page 70 0.03 revs/sec. Be aware that the mode allows increased jerk in your mechanical system. DDAMPA0 An overview of the GT6K’s damping features is provided in the command descripition. DABSD Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 71 Begin Program/Subroutine Definition Type Product Program or Subroutine Definition Syntax <a_><!>DEF<t> GT6K Units t = alpha text string (name of a program) GV6K Range text string of 6 characters or less Default Response See Also $, DEL, END, ERASE, GOBUF, GOSUB, GOTO, MEMORY, PCOMP, PLCP, PRUN, RUN, [ SS ], TDIR, TMEM, TPROG, TSS, TSTAT command is the beginning of a program or subroutine definition.
Page 72 , the nominal gains (calculated based on and the motor parameters) give the best DELVIS5 LJRAT performance over the entire speed range, but you may adjust the setting further as your application DELVIS warrants. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 73 DHALL Disable Hall Sensor Checking Type Product Drive Configuration Syntax <a_><!>DHALL GT6K Units i = control option # GV6K Range 0 (Enable Hall Error Checking) 1 (Disable Hall Error Checking) (applicable only to Default servo axes) Response DHALL: *DHALL0 See Also SHALL, THALL, TASX NOTE: When issued, this command takes effect immediately.
Page 74 For example, the figure shows that at the drive’s peak current rating (250% of continuous), foldback will occur after six seconds. Drive Current Rating vs. Time Peak Rating = 250 % 200 % 150 % Continuous Rating = 100 % 50 % 10 4 Time (seconds) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 75 DIGN Current Loop Gain Type Product Tuning Syntax <a_><!>DIGNc<r> GT6K Units c = gain identifier letter (required); GV6K r = gain value Range c = A, B, C, or D; (applicable only to DIGNA, DIGNB, DIGNC : r = 0.000 to 15.000 : ±0.001 stepper axes) DIGND : r = 0.000 to 1.000 : ±0.001...
Page 76 DKEY IF(DKEY=-1) The value reported by the command is defined by the following table: DKEY Value of DKEY Key currently active None or multiple keys ENTER Menu Recall STOP PAUSE CONTINUE Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 77 DLED Turn RP240 Display LEDs On/Off Type Product Display (RP240) Interface Syntax <a_><!>DLED GT6K Units GV6K Range b = 0 (off) or 1 (on) Default Response DLED: *DLED1101_0001 See Also DCLEAR, DPASS, DPCUR, DSTP, DVAR, DVARB, DVARI, DWRITE command controls the state of the 8 programmable LEDs on the RP240. It is legal to substitute a DLED binary variable ( ) for the...
Page 78 α = ⋅ = Force / Torque ⋅ Mass / Inertia Damping ⋅ radians π Flux constant 2 1000 φ φ − φ φ − = ⋅ ⋅ peak peak e linear e Linear krpm Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 79 DMODE Drive Control Mode Type Product Drive Configuration Syntax <a_><!>DMODE GT6K Units i = control mode setting GV6K Range 1-17 (see table below) Default Response DMODE: *DMODE12 See Also DRES, SRSET Use the command to select the drive control mode for your Gem6K drive. Refer to the table below DMODE for drive mode descriptions and drive compatibility.
Page 80 (TVE) Normalized to ±10 volts equals ±200 revs/sec (rotary) or Velocity Error ±8.4 meters/sec (linear). Phase A Commanded Instantaneous commanded current for phase A (Volts per Amp). * Current Phase A Actual Current Instantaneous measured current for phase A (Volts per Amp). * Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 81 Number Name Description GT6K GV6K Phase B Actual Current Instantaneous measured current for phase B (Volts per Amp). * RESERVED RESERVED d-axis Commanded Commanded direct-axis current (usually 0). This current does not Current produce torque/force. * d-axis Actual Current Estimated direct-axis current from coordinate-conversion software.
Page 82 Phase A Applied Voltage Duty A voltage representation of the PWM duty cycle for Phase A. Cycle Phase B Applied Voltage Duty A voltage representation of the PWM duty cycle for Phase B. Cycle RESERVED (Continued on next page) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 83 Number Name Description GT6K GV6K This value is normalized as follows (value clips at ±1 rev or Position Setpoint ±1 electrical pitch (epitch), regardless of the DMONAS setting): • Rotary motors: ±10V = ±1 rev (based on TPC ÷ ERES) •...
Page 84 (DMTICD of 0 results in no current derating) servo axes) Response DMTICD: *DMTICD5 See Also DMTIC, DMTIP, DMTW NOTE: This command does not take effect until you cycle power to the drive, or issue a RESET DRESET command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 85 AUTO-SETUP: This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR for a list of auto-configured commands.) command sets the percentage current derating at rated speed ( ).
Page 86 (DMTKE of 0 results in motor config. error) Response DMTKE: *DMTKE15.0 See Also DMEPIT, DMONAV, DMONBV, DMTSCL, DMTR, TASX, TCS NOTE: This command does not take effect until you cycle power to the drive, or issue a RESET DRESET command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 87 AUTO-SETUP: This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner (see page 6). If you did not use the configuration utility or are not using a Parker Motor, this command is set to zero and you will have to manually set this parameter. (Refer to DMTR for a list of auto-configured commands.) If the drive is powered up when this command is set to zero (for instance, if RFS is executed), the drive reports a motor configuration error with TASX bit 7, writes a value of -32727 to the TCS register, and shuts down the drive (DRIVE0).
Page 88 “Lmin” value (see table below), the drive will fault (motor configuration DMTLMN error is reported in bit #7). TASX Units GV6K-L3 GV6K-U3 GV6K-U6 GV6K-U12 GV6K-H20 GV6K-H40 Lmin (min. phase-phase inductance) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 89 DMTLMX Maximum Motor Inductance Type Product Motor Syntax <a_><!>DMTLMX<r> (does not take effect until RESET, DRESET or cycle GT6K power) GV6K Units r = mH (measured line-to-line) Range 0.1 to 200.0 (motor dependent) : ±0.1 (applicable only to Default (DMTLMX of 0 results in motor config. error) servo axes) Response DMTLMX:...
Page 90 If you need to update the information, download the latest motor table file. If you are using Motion Planner, place the updated file in the Motion Planner directory (default location is \Program Files\Compumotor\Motion Planner Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 91 DMTRES Motor Winding Resistance Type Product Motor Syntax <a_><!>DMTRES<r> (does not take effect until RESET, DRESET or GT6K cycle power) GV6K Units r = Ohm (measured line-to-line) Range 0.00 to 50.00 : ±0.01 Default 0.00 (DMTRES of 0 results in motor config. error) Response DMTRES: *DMTRES7.50...
Page 92 The motor static torque is the motor holding torque DMTSTT measured in the “one phase on” condition. The “one phase on” condition is measured with the peak motor current in one phase. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 93 DMTTCM Motor Thermal Time Constant Type Product Motor Syntax <a_><!>DMTTCM<r> (does not take effect until RESET, DRESET or GT6K cycle power) GV6K Units r = minutes Range 0.0 to 300.0 : ±0.1 (applicable only to Default servo axes) Response DMTTCM: *DMTTCM30.4 See Also DMTR, DMTTCW...
Page 94 If the velocity demand from the internal Gem6K control loops exceeds the limits set by , then DMVLIM TASX bit 18 will be set. The Gem6k responds to this condition by invoking the “Override Mode,” in which the Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 95 drive software clamps the maximum allowable velocity command to the value set by . Bit 18 stays DMVLIM latched until a is issued. DCLRLR, RESET DRESET Changes to the command are not allowed while motion is in progress. DMVLIM NOTE: The Gem6K requires values in rotary units. Motion Planner does these conversions for you when you use the Setup Wizard.
Page 96 • Servo tuning process: refer to the Hardware Installation Guide. • Check the values of all active gains ( is one of many servo gains): use DNOTAF TGAIN. • Creating and invoking gain sets: see SGSET SGENB TGAIN TSGSET. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 97 DNOTAQ Notch Filter A Quality Factor Type Product Tuning Syntax <a_><!>DNOTAQ<r> GT6K Units r = quality factor GV6K Range 0.5 to 2.5 Default (applicable only to Response DNOTAQ: *DNOTAQ1.5 servo axes) See Also DNOTAD, DNOTAF, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, DNOTLG, TGAIN, TSGSET command sets the quality factor (Q) for notch filter A.
Page 98 • Servo tuning process: refer to the Hardware Installation Guide. • Check the values of all active gains ( is one of many servo gains): use DNOTLD TGAIN. • Creating and invoking gain sets: see SGSET SGENB TGAIN TSGSET. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 99 DNOTLG Notch Lag Filter Break Frequency Type Product Tuning Syntax <a_><!>DNOTLG GT6K Units i = Hz GV6K Range 0 (disable), or 20-1000 Default 0 (filter is disabled) (applicable only to Response DNOTLG: *DNOTLG400 servo axes) See Also DNOTAD, DNOTAF, DNOTAQ, DNOTBD, DNOTBF, DNOTBQ, DNOTLD, TGAIN, TSGSET command sets the break frequency of the lag filter.
Page 100 A procedure for configuring Phase Balance is provided in the Configuration chapter of the Hardware Installation Guide. Example: DPHBAL110 ; sets the current amplitude of phase B to 110% ; of the current in phase A. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 101 DPHOFA Phase A Current Offset Type Product Drive Configuration Syntax <a_><!>DPHOFA<r> GT6K Units r = no units GV6K Range -10.000 to 10.000 : ±0.001 Default 0.000 (applicable only to Response DPHOFA: *DPHOFA5.000 stepper axes) See Also DPHBAL, DPHOFB, DWAVEF command adjusts the current offset of phase A. DPHOFA A procedure for configuring phase offset is provided in the Configuration chapter of the Hardware Installation Guide.
Page 102 23.1A 23.1A 22.0A 100.0A 65.0A 55.0A GV6K-H40 240VAC, 3 phase 40.0A 26.0A 22.0A 100.0A 65.0A 55.0A * Current Ratings are the same for 120VAC operation Note: All currents are peak of the sine wave values Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 103 [ DREAD ] Read RP240 Data Type Product Display (RP240) Interface Syntax See below GT6K Units GV6K Range Default Response See Also [ DREADF ], DREADI, DVAR, DWRITE, [ SS ], TSS, VAR command allows you to store numeric data entered from the RP240's keypad into a variable. As DREAD the user presses RP240 numeric keys, the data will be displayed on the RP240 starting at the location equal to the current cursor location + 1 (for a sign bit):...
Page 104 ; Enable RP240 data read immediate mode VAR1=DREAD ; Set variable #1 (VAR1) to receive numeric data entered on the ; RP240's keypad VAR2=DREADF ; Set VAR2 to receive RP240 function key input ; Begin loop Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 105 IF(VAR2=1) ; If function key 1 was last pressed, do the IF statement ; (slow velocity) V3.6 ; Set velocity to 3.6 units per second ; End IF statement IF(VAR2=2) ; If function key 2 was last pressed, do the IF statement ;...
Page 106 DMTLMN DMTLMX DMTR DMTRES DMTRWC DMTSTT DMTTCM DMTTCW DMTW DPOLE DPWM SHALL NOTE: The command does not disconnect an Ethernet connection. DRESET command does not clear the assignment or run the program. DRESET ERRORP STARTP Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 107 DRIVE Drive Enable Type Product Drive Configuration Syntax <a_><!>DRIVE GT6K Units GV6K Range b = 0 (disable), 1 (enable) Default 0 (disable) Response DRIVE *DRIVE1 See Also [ AS ], [ ASX ], ESK, FLTDSB, KDRIVE, TAS, TASX, TER Use the command to enable or disable (shut down) the drive.
Page 108 ; The motor will move 100000 commanded counts (4 revs) ; (If, at any time during the move the drive detects a stall, ; a stall condition will be flagged, and motion will stop.) ; End definition of proga Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 109 DSTP Enable/Disable RP240 Stop Key Type Product Display (RP240) Interface Syntax <a_><!>DSTP GT6K Units b = enable bit GV6K Range b = 1 (enable) or 0 (disable) Default 1 (enable) Response DSTP *DSTP1 See Also DLED, [ DREAD ], [ DREADF ] Use the command to enable or disable the stop key on the RP240 panel.
Page 110 (see example). The following graphic shows the location of the RP240's two-line, 40-character display. It also shows the characters in relation to the function keys. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 111 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39 HINT: If you do not have an RP240 and wish to send (only) characters out the serial port to another serial device, you may use this command.
Page 112 GT6K to reference either the encoder position or the commanded position when ENCCNT capturing the position (see ) and checking the encoder position ( ). When checking the INFNCi-H actual velocity ( determines whether the velocity, in units of revs/sec, is derived VELA TVELA ENCCNT Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 113 with the encoder resolution ( ) or the drive resolution ( ). The default setting ( ERES DRES ENCCNT0 references the commanded position. NOTES: • must be enabled ( ) before encoder stall detect ( ) can be used. ENCCNT ENCCNT1 ESTALL •...
Page 114 2 is set to 1. The specific error-checking bits must be enabled by the Error-Checking Enable ( ) command before ERROR command will provide an error response — see programming example below. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 115 MULTI-TASKING If you are operating multiple tasks, be aware that you must enable error conditions (ERROR) and specify an error program (ERRORP) for each task (e.g., 2%ERROR.2-1 and 2%ERRORP FIX for Task 2). Each task has its own error status register (reported with ER, TER, and TERF). The function of each error status bit is shown below.
Page 116 Parker Motor, this command is set to zero and you will have to manually set this parameter (if SFB1) or this command is set to 4096 counts/rev (if SFB4). Refer to DMTR for a list of auto-configured commands. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 117 Resolutions for Compumotor Encoders: Stepper axes: • -RE, -RC, -EC, and -E Series Encoders ..ERES4000 • -HJ Series Encoders ........ERES2048 Servo axes: • BE Series Servo Motors ......BExxxxJ-xxxx: ERES8000 • SM, N or J Series Servo Motors....SM/N/JxxxxD-xxxx: ERES2000 SM/N/JxxxxE-xxxx: ERES4000 •...
Page 118 C language. command determines which COM port is affected by the command. PORT ERRDEF Example: ERRDEF13,0,0,0 ; Place a carriage return only in the output buffer after each ; command in the program definition Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 119 ERRLVL Error Detection Level Type Product Error Handling Syntax <a_><!>ERRLVL GT6K Units i - error level settings GV6K Range i = 0, 1, 2, 3, or 4 Default 4 if COM port is set up for RS-232C; 0 if COM port is set up for RS-485 Response ERRLVL: *ERRLVL4...
Page 120 <lf> • Space ..... <sp> (no difference between these two settings): ERRLVL4 ERRLVL3 *TAS0000_0000_0000_1000_0000_0001_0000_0000 <cr><lf> 0000_0000_0000_1000_0000_0001_0000_0000 <cr> <cr><lf> > <sp> ERRLVL2 *TAS0000_0000_0000_1000_0000_0001_0000_0000 <cr><lf> 0000_0000_0000_1000_0000_0001_0000_0000 <cr> ERRLVL1 *0000_0000_0000_1000_0000_0001_0000_0000 <cr><lf> *0000_0000_0000_1000_0000_0001_0000_0000 <cr> ERRLVL0 0000_0000_0000_1000_0000_0001_0000_0000 <cr><lf> 0000_0000_0000_1000_0000_0001_0000_0000 <cr> Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 121 ERROK Good Prompt Type Product Communication Interface Syntax <a_><!>ERROK,,, GT6K Units GV6K Range i = 0 - 256 Default 13,10,62,32 Response ERROK: *ERROK13,10,62,32 See Also ERRBAD, ERRDEF, ERRLVL, PORT, XONOFF command designates the characters to be placed into the output buffer after a command has ERROK been entered correctly.
Page 122 ” is the error bit number and “ ” is either ERRORL.n-b enable or to disable. Ø Use the command to view the error log. Use the command to clear the error log. TERRLG CERRLG Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 123 NOTE: After an error event occurs and the drive updates the error log, bits may still be recorded in for another 120 milliseconds. To find all possible causes of an error event, examine TASX TASX addition to viewing the error log. Bit # Function Stall Detected: Functions when stall detection is enabled with ESTALL (encoder stall...
Page 124 Change direction & issue GO command; or be enabled first—see LS) If COMEXL1, then Gosub issue LSØ. Drive Fault (Detected only if drive Goto Check the cause with TASX, remedy the fault enabled – DRIVE1). condition, then issue a DRIVE1 command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 125 Commanded Stop or Kill No fault condition is present—there is no error If !K, then Goto; (whenever a K, !K, <ctrl>K, S, to clear If !S & COMEXSØ, or !S command is sent) then Goto; If you want the program to stop, you must —...
Page 126 ESTALL DSTALL before the command will have any affect. For further details and programming examples on Encoder Stall Detection, refer to ESTALL For further details and programming examples on Drive Stall Detection, refer to DSTALL Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 127 ESTALL Encoder-Based Stall Detection Type Product Encoder Configuration Syntax <a_><!>ESTALL GT6K Units GV6K Range b = 0 (disable) or 1 (enable) Default (applicable only to Response ESTALL: *ESTALL0 stepper axes) See Also [ AS ], DRES, DSTALL, ENCCNT, [ ER ], ERES, ESDB, ESK, TAS, command determines if encoder-based stall conditions will be checked.
Page 128 ; If input 1 is active 3%EXE PROG1 ; Launch program PROG1 in Task 3 ELSE 2%EXE PROG2 ; Otherwise launch program PROG2 in Task 2 PCOMP PLCP1 ; Compile PLCP1 SCANP PLCP1 ; Scan with program PLCP1 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 129 [ FB ] Value of Current Feedback Device Type Product Servo; Assignment or Comparison Syntax See below GT6K Units See below GV6K Range See below Default Response See Also GOWHEN, [ PE ], PSET, SCALE, SCLD, SFB, TFB, Use the operator to assign the value of the selected feedback device to a variable or to make a comparison.
Page 130 “Enable” input (pin 1 on the connector), any output configured as a fault output is activated and DRIVE I/O the dry contact relay (labeled “ ” and “ .” on the 4-pin removable connector) is RELAY COM RELAY N.O opened. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 131 FMAXA Follower Axis Maximum Acceleration Type Product Following Syntax <a_><!>FMAXA<r> GT6K Units r = units/sec/sec GV6K Range r = 0.00001 - 39,999,998 (scalable with SCLA) Default 0.00 (no limit imposed) (applicable only to Response FMAXA *FMAXA0.0000 stepper axes) See Also [ FS ], FFILT, FMAXV, FPPEN, SCLA, TFS, TFSF command sets the maximum acceleration for follower axes.
Page 132 ) is reached, even if no command has been executed. FMCLEN FMCNEW Example: TPMAS ; Display master position: response is *TPMAS12.2 FMCNEW1 ; Start new master cycle TPMAS ; Display master position: response is *0 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 133 FMCP Initial Master Cycle Position Type Product Following Syntax <a_><!>FMCP<r> GT6K Units r = master position in scalable steps GV6K Range r = ±999,999,999 (scalable with SCLMAS) Default Response FMCP *FMCP+0 See Also FMCNEW, FOLMAS, [ FS ], GOWHEN, SCLMAS, TFS, WAIT command defines the initial master cycle position in user units.
Page 134 ; Initiate new move with new Following ratio (when master pos. >= 75) WAIT(AS.26=b0 AND FS.1=b0) ; Wait for profile to actually start ; (when master position >= 75) and the follower is not moving JUMP STRMV ; Repeat the cycle ; End of program Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 135 Example #2: Stepper Axes: The master is an encoder mounted to gearing on a conveyor line. The gearing results in 16,000 encoder steps per conveyor inch. The follower, controlled by the Gem6K, is a 25,000 step/rev microstepper on a 36" long, 4-pitch leadscrew. The follower waits for the product to be sensed on the conveyor, accelerates to a 1-to-1 ratio, waits for a safe location to actuate the stamping equipment, then applies an inked stamp to the product at the correct location.
Page 136 ), the axis will follow the counts from the Master Encoder (the separate encoder labeled “ ”). MASTER ENCODER • If a zero ( ±ii ) is placed in the data field ( ), the axis becomes a normal non-Following axis. Ø Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 137 Following a Virtual Master. There are two “Virtual Master” options (an internal count source and an internal sine wave) for applications that require the synchronization features of Following, but have no external master. For a detailed description of virtual master features, see Virtual Master in the Programmer’s Guide.
Page 138 ; Begin following master. If the master is not moving, follower ; will remain at rest until master moves, at which time the ; follower will track the master precisely, but in the opposite ; direction as the master. ; End definition of progx Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 139 FOLRD Denominator of Follower-to-Master Ratio Type Product Following Syntax <a_><!>FOLRD<r> GT6K Units r = master distance in counts GV6K Range r = 1.00000 - 999,999,999 (scalable by SCLMAS) Default Response FOLRD *FOLRD1 See Also COMEXC, FGADV, FOLEN, FOLK, FOLMAS, FOLRN, FOLRNF, SCLMAS command establishes the denominator of a ratio between follower and master travel.
Page 140 2 sample periods (4 milliseconds). Enabling Master Position Prediction ( ) eliminates any lag in follower position which would be FPPEN1 dependent on master speed. It may be desirable to disable Master Position Prediction ( ) when FPPENØ Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 141 maximum follower smoothness is important and minor phase delays can be accommodated. A detailed discussion of Master Position Prediction is given in the Following chapter of the Programmer's Guide. Example: FPPEN1 ; Enable Master Position Prediction. [ FS ] Following Status Type Product Following;...
Page 142 This results in a shift (change in phase) between the master position and the follower position. Continuous shift moves in the positive- or negative-direction may be commanded only while the follower is in the Following mode ( FOLEN1 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 143 Steppers only: move may be performed only when the follower is in the continuous FSHFC positioning mode ( ) and performing a Following move at a constant ratio. The most recently commanded velocity ( ) and acceleration ( ) for the follower axis will determine the speed at which the move takes place.
Page 144 ; Master encoder input is the master for axis 1 FOLRN1 ; Set follower-to-master Following ratio numerator to 1 FOLRD1 ; Set follower-to-master Following ratio denominator to 1 ; (ratio set to 1:1) FOLEN1 ; Enable Following mode Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 145 ; Set direction to positive ; Select continuous positioning mode ; Start following master continuously VARB1=b10 ; Define input pattern #1 and assign to VARB VARB2=b01 ; Define input pattern #2 and assign to VARB $TESTIN ; Define label called TESTIN IF(IN=VARB1) ;...
Page 146 ; Incremental positioning mode ; Preset positioning mode ; Set the acceleration to 10 units/sec/sec ; Set the velocity to 1 units/ D100000 ; Set the distance to 100000 units ; Initiate motion ; End definition of proga Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 147 GOBUF Store a Motion Segment in Compiled Memory Type Product Compiled Motion Syntax <a_><!>GOBUF GT6K Units GV6K Range b = 0 (don't go) or 1 (go) Default Response See Also [ AS ], DEF, END, [ ER ], FOLRNF, MC, MEMORY, PCOMP, PEXE, POUTn, PRUN, PUCOMP, PLOOP, PLN, [ SS ], TAS, TER, TSS, VF, (Compiled Motion overview in Custom Profiling in the Programmer's Guide.) The GOBUF command creates a motion segment as part of a profile and places it in a segment of compiled memory, to...
Page 148 ; After program prog1 is initiated, and the first move of 4000 counts is complete, a ; GOSUB will occur causing the execution of program prog2. After program prog2 ; finishes, control will be passed back to program prog1, to the command immediately ; following the GOSUB. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 149 GOTO Goto a Program or Label Type Product Program; Subroutine Definition; Program Flow Control Syntax <!>GOTO<t> GT6K Units t = text (name of program/label) GV6K Range Text name of 6 characters or less Default Response See Also $, DEF, DEL, END, GOSUB, IF, JUMP, L, LN, NIF, NWHILE, REPEAT, RUN, UNTIL, WHILE command branches to the corresponding program name or label when executed.
Page 150 AS.29 ..Assignment & comparison operator — use in a conditional expression (see AS). TASF..Full text description of each status bit. (see “Gowhen error” line item) TAS ..Binary report of each status bit (bits 1-32 from left to right). See bit #29. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 151 Error Status — Bit #14: Bit #14 is set if the input state or position relationship specified in the command is already true when the , or command is issued. The GOWHEN FGADV FSHFC FSHFD error status is monitored and reported only if you enable error-checking bit #14 with the ERROR command (e.g., ).
Page 152 ; If inputs 1 and 3 are in the correct state after the motion is complete, ; program processing will be terminated. In other words, all commands waiting ; to be parsed in the program buffer will be eliminated. ; **** Note: There will not be a return to prog1. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 153 HELP Technical Support Type Product Program Debug Tool Syntax <!>HELP GT6K Units GV6K Range Default Response See description below See Also None The ( ) command provides the telephone numbers for technical support. HELP Go Home Product Type Homing Syntax <a_><!>HOM...
Page 154 Once the home deceleration ( ) command has been entered, the HOMAD home acceleration ( ) command no longer affects home deceleration. HOMA Example: Refer to the go home (HOM) command example. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 155 HOMAA Homing Average Acceleration Type Product Motion (S-Curve) Syntax <a_><!>HOMAA<r > GT6K Units r = units/sec/sec GV6K Range 0, or 0.0001 – 9999.9999 Default 10.00 (Default is a constant accel ramp, where HOMAA tracks HOMA. S-curve accel is achieved when HOMAA is changed independent of HOMA.
Page 156 HOMDF approach. This command is operational when backup to home ( ) is enabled, or when homing to an HOMBAC encoder Z channel ( HOMZ Example: Refer to the go home (HOM) command example. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 157 HOMEDG Home Reference Edge Type Product Homing Syntax <a_><!>HOMEDG GT6K Units GV6K Range b = 0 (positive-direction edge) or 1 (negative-direction edge Default Response HOMEDG: *HOMEDG0 See Also HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF, HOMV, HOMVF, HOMZ, INFNC, INLVL command specifies which edge of the home switch the homing operation will consider as its HOMEDG final destination.
Page 158 ELSE branching. If the expression contained within the parenthesis of the command evaluates true, then the commands between the and the are executed. If the expression evaluates false, the commands Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 159 between the and the are ignored, and command processing continues with the first command following the When the command is used in conjunction with the command, true evaluations cause the ELSE commands between the commands to be executed, and the commands after the until the ELSE ELSE...
Page 160 ; Map the binary state of VARB1 to be the ; input state of "virtual" input brick 2 (2IN) VARB1=b10100000 ; Change "virtual" input brick 2IN to a new VARB1 value 2TIN ; Check the input status. The response will be: ; "*2IN1010_0000_0000_0000_0000_0000_0000_0000" Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 161 [ IN ] Input Status Type Product Assignment or Comparison Syntax See below GT6K Units GV6K Range Default Response See Also GOWHEN, IN, INFNC, [ LIM ], ONIN, TIN, VARB Use the operator to assign the input value to a binary variable ( ), or to make a comparison against a VARB binary or hexadecimal value.
Page 162 When this command is not enabled, the user INDUSE INDUST status bits ( ) can be defined; however, they will not be updated in the or the commands INDUST until is enabled. INDUSE Example: INDUSE1 ; Enable user status Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 163 INDUST User Status Definition Type Product Drive Configuration Syntax <a_><!>INDUST<-<c>> GT6K Units See description below GV6K Range 1st i = 1 - 16; 2nd i = 1 - 32; c = A through S Default See description below Response INDUST: *INDUST1-1A AXIS 1 STATUS - STATUS OFF (...repeated for all 16 user status bits...) *INDUST16-16A AXIS 1 STATUS - STATUS OFF...
Page 164 ; the active state, and input 5 in the inactive state RUN tester ; Initiate program tester !INEN00000 ; Disable onboard inputs 1,2,3,4, & 5, and leave them in the ; inactive state INENeeeee ; Re-enable inputs 1 through 5 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 165 INFNC Input Function Type Product Input Syntax <a_><!>INFNC-<<a>c> GT6K Units i = input #, GV6K a = program # for function P; c = function identifier letter Range i = 1-32 (I/O brick dependent — see page 8); c = A-T Default All inputs set to A (general-purpose) Response...
Page 166 SCLMAS Captured values are offset by any existing PSET or PMESET offset. ** If scaling is enabled, the captured position is scaled by SCLD or SCLMAS. More about Trigger Interrupt function on next page … Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 167 Identifier Function Description H (con’t.) Continued from previous page (Trigger Interrupt function): NOTES ABOUT POSITION CAPTURE: - Hardware Capture: The encoder position is captured within ± 1 encoder count. The commanded position capture accuracy is ± 1 count. - Interpolated Capture: There is a time delay of up to 50 µs between activating the trigger interrupt input and capturing the position;...
Page 168 For more information on homing, refer to the HOM command and the Homing section in the Programmer’s Guide. Example: 3INFNC1-D ; Input at I/O point #1 on brick 3 is defined to be a stop input Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 169 INLVL Input Active Level Type Product Input Syntax <a_><!><@>INLVL...<b GT6K Units GV6K Range b = 0 (active low), 1 (active high, or X (don’t change)) Default Response INLVL: *INLVL0000_0 1INLVL: *1INLVL0000_0000_0000_0000_0000_0000_0000_0000 1INLVL.3: *0 (active low) See Also INDEB, INEN, INFNC, INPLC, INSTW, TIN, TIO command defines the active state of the general-purpose inputs on the connector, and on INLVL...
Page 170 I/O device such as a PLC (Programmable Logic Controller), or a passive thumbwheel module. The actual data transfer occurs with the command. Refer to the command for a description of the data transfer process. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 171 command has four fields ( INPLC ,<i-i>,, Data Field Description Field 1: Set #: There are 4 possible INPLC sets (1-4). This field identifies which set to use. Field 2: <i-i> Input #s: Data is read into the Gem6K through programmable inputs on expansion I/O bricks.
Page 172 INTHW Communications Server (this requires an Ethernet interface to the Gem6K). The alarm bit in the Gem6K is cleared as soon as the alarm occurs, but the status of the alarm remains available, through the Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 173 Communications Server, to be checked by client applications. For details on using alarms, refer to the Programmer’s Guide. The table below lists the potential alarm conditions. Any number of the conditions may be enabled. Format for bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb INTHW Bit #1 Bit #32 To enable a specific interrupt, place a 1 in the corresponding bit location ( ) in the...
Page 174 If the specified input bit does not exist onboard or on the I/O brick, an error message (“ ”) will result. *INVALID DATA Specifying bit 0 for both starting and ending bit disables the mapping ( INVARI INVARI,,0,0 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 175 Example: A following application requires an axis to follow a master source that has position information presented as a 12-bit binary number on digital outputs. An external I/O brick with two 8-bit digital input SIMs is used to read the 12 bits of the source. The source is wired to bits 1-12. DEF SETUP INVARI4,1,1,12 ;...
Page 176 Scaling ( ) affects the same as it does for . Refer to page for details on scaling. SCLA JOGAA JOGA Example: JOGA10 ; Sets the maximum jogging acceleration JOGAA5 ; Sets the average jogging acceleration Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 177 JOGAD Jog Deceleration Type Product Syntax <a_><!>JOGAD<r> GT6K Units r = units/sec/sec GV6K Range 0.00001 - 39,999,998 (depending on the scaling factor) Default 10.0000 (by default, JOGAD tracks JOGA until JOGAD is changed independent of JOGA; to restore tracking, set JOGAD = 0) Response JOGAD: *JOGAD10.0000...
Page 178 When an invalid velocity is entered the previous velocity value is FIELD x retained. UNITS OF MEASURE and SCALING: refer to page 16. Example: Refer to the jog mode enable (JOG) command example. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 179 Joystick Mode Enable Type Product Joystick Syntax <a_><!>JOY GT6K Units GV6K Range b = 0 (disable) or 1 (enable) Default Response JOY: *JOY0 See Also ANIRNG, [ AS ], COMEXC, INFNC, JOYA, JOYAA, JOYAD, JOYADA, JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, TAS, TIN The Gem6K drive supports joystick operation with digital inputs and analog inputs.
Page 180 ; joystick can produce only -8.0V to +8.0V. ;************************************************** JOY1 ; Enable joystick mode Velocity (positive direction) JOYVH JOYVL JOYEDB JOYCDB (zero-velocity range) Volts -10V +10V JOYCTR JOYZ (voltage when joystick is at rest) JOYEDB JOYVH JOYVL Velocity (negative direction) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 181 JOYA Joystick Acceleration Type Product Joystick Syntax <a_><!>JOYA<r> GT6K Units r = units/sec/sec GV6K Range 0.3 – 9999.9999 Default 10.0000 Response JOYA: *JOYA10.0000 See Also JOY, JOYAA, JOYAD, JOYADA, JOYAXH, JOYCDB, JOYCTR, JOYEDB, JOYVH, JOYVL, JOYZ, SCALE, SCLA command specifies the acceleration to be used during joystick mode. JOYA UNITS OF MEASURE and SCALING: refer to page 16.
Page 182 Acceleration Scaling ( ) affects the same as it does for . Refer to page for details on SCLA JOYADA JOYAD scaling. Example: JOYAD10 ; Sets the maximum joystick deceleration JOYADA5 ; Sets the average joystick deceleration Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 183 JOYAXH Joystick Analog Channel High Type Product Joystick Syntax <a_><!>JOYAXH<B-i> GT6K Units B = I/O brick number GV6K i = Location of the analog input on I/O brick (see page 8) Range B = 1-8 i = 1-32 Default Response JOYAXH: *JOYAXH1-1 See Also...
Page 184 When an *INVALID DATA-FIELD x invalid velocity is entered the previous velocity value is retained. UNITS OF MEASURE and SCALING: refer to page 16. Example: Refer to the joystick mode enable (JOY) command example. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 185 JOYVL Joystick Velocity — Velocity Select Input Low Type Product Joystick Syntax <a_><!>JOYVL<r> GT6K Units r = units/sec GV6K Range Stepper Axes: 0.004-60.0000 (after conversion to revs/sec) Servo Axes: 0.004-200.0000 (after conversion to revs/sec; if ERES > 10,000, maximum = 2,000,000/ERES) Default 0.2000 Response...
Page 186 ; End program definition DEL bottom ; Delete program bottom DEF bottom ; Begin definition of program bottom GOSUB top ; Gosub to program top ; Initiate motion ; End subroutine definition RUN bottom ; Execute program bottom Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 187 Kill Motion Type Product Motion Syntax <a_><!>K GT6K Units GV6K Range b = 0 (don't kill) or 1 (kill) Default Response No response, instead motion is killed See Also FOLK, GO, <CTRL>K, KDRIVE, LHAD, LHADA, S, SCANP, TAS The Kill Motion ( ) command instructs the drive to stop motion.
Page 188 I/O bricks in the process of wiring and programming your system). Therefore, to help prevent damage to equipment and serious injury to personnel, we recommend enabling this feature (KIOEN1) during normal operation of your motion control system. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 189 Loop Type Product Loops; Program Flow Control Syntax <a_><!>L GT6K Units i = number of times to loop GV6K Range 0-999,999,999 (0 = infinite loop) Default Response No response; instead, this has the same function as L0 See Also C, COMEXS, LN, LX, PLN, PLOOP, PS, S When you combine the Loop ( ) command with the end of loop ( ) command, all of the commands...
Page 190 Example: ; Enable limits LHAD100 ; Set hard limit decel to 100 units/sec/sec ; Set acceleration to 10 units/sec/sec ; Set velocity to 1 unit/sec D100000 ; Set distance to 100000 units ; Initiate motion Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 191 LHAD Hard Limit Deceleration Type Product Limit (End-of-Travel) Syntax <a_><!>LHAD<r> GT6K Units r = units/sec/sec GV6K (linear motors: see DMEPIT for linear/rotary conversion) Range 0.0001 – 9999.9999 Default 100.0000 Response LHAD: *LHAD100.0000 See Also AD, DMEPIT, DRES, INFNC, INLVL, K, [ LIM ], LIMEN, LIMFNC, LIMLVL, LH, LHADA, LS, LSAD, LSADA, LSNEG, LSPOS, SCALE, SCLA, TLIM command determines the value at which to decelerate after a hardware end-of-travel limit has...
Page 192 Negative-direction Limit Home Limit Example: IF(LIM=b11X) ; If both end of travel limit inputs are active, then ; do the statements between the IF and NIF TLIM ; Transfer limit status ; End IF statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 193 LIMEN Limit Input Enable Type Product Inputs; Program Debug Tool Syntax <a_><!>LIMEN<d><d><d> GT6K Units GV6K Range d = 0 (disable, leave off), 1 (disable, leave on), E (enable), or X (don't change) Default Response LIMEN: *LIMENEEE LIMEN.3 See Also INEN, LH, [ LIM ], LIMFNC, LIMLVL, TIO, TLIM command allows you to simulate the activation of specific limit inputs (without actually wiring LIMEN the inputs to the drive) by disabling them and setting them to a specific level (ON or OFF).
Page 194 Note: If fewer inputs than shown above are defined to be Program Select Inputs, then the highest input number defined as a Program Select Input is the most significant bit. An input defined as a BCD Program Select Input will not function until the INSELP command has been enabled. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 195 Identifier Function Description Kill. Kills motion and halts all command processing (refer to K and KDRIVE command descriptions for further details on the kill function). This is an edge detection function and is not intended to inhibit motion. To inhibit motion, use the Pause/Resume function (LIMFNCi-E). When enabled with the ERROR command, bit #6 of the TER and ER commands will report the kill status.
Page 196 ), then change the limit input’s function to something else (e.g., change 2INFNC3-T LIMFNC3-T ). This home limit input function is not debounced. LIMFNC3-A Example: LIMFNC1-D ; Redefine the positive EOT input (limit input #1) ; to be a stop input Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 197 LIMLVL Hardware Limit Input Active Level Type Product Limit (End-of-Travel and Homing) Syntax <a_><!>LIMLVL GT6K Units GV6K Range b = 0 (active low: requires n.c. EOT switch & n.o. home switch), 1 (active high: requires n.o. EOT switch & n.c. home switch), X (don’t care) Default Response...
Page 198 LOCK an example response: *LOCK1,0 COM PORT 1 - UNLOCKED *LOCK2,0 COM PORT 2 - UNLOCKED *LOCK3,0 TASK SWAPPING - UNLOCKED See the Programmer’s Guide for more information about using the command with multi-tasking. LOCK Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 199 NOTES • If one task attempts to lock a resource in a different task (e.g., if Task1 attempts to execute the 2%LOCK1,1 command), the drive will respond with an error message (“ALTERNATE TASK NOT ALLOWED“). • If task “A” attempts to lock a resource that is already locked to task “B”, command processing in task “A”...
Page 200 . Refer to page for details on scaling. SCLA LSADA LSAD Example: LSAD10 ; Set the maximum deceleration to 10 units/sec/sec LSADA5 ; Set the average deceleration to 5 units/sec/sec Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 201 LSNEG Soft Limit Negative Travel Range Type Product Limit (End-of-Travel) Syntax <a_><!>LSNEG<r> GT6K Units r = units of distance GV6K Range -999,999,999 to +999,999,999 (after conversion to steps) Default Response LSNEG: *LSNEG+0 See Also LS, LSAD, LSADA, LSPOS, PSET, SCALE, SCLD command specifies the distance in absolute units where motion will be restricted when LSNEG traveling in a negative-travel direction.
Page 202 ; Start motion: (move 4000 counts in the positive direction ; and finish at absolute position 12000) ; Start motion again: (move 4000 counts in the positive direction ; and finish at absolute position 16000) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 203 Preset/Continuous Mode Enable Type Product Motion Syntax <a_><!>MC GT6K Units GV6K Range b = 0 (preset mode) or 1 (continuous mode) Default Response *MC0 See Also A, AD, COMEXC, COMEXS, D, FOLMD, [ FS ], FSHFC, FSHFD, GO, GOBUF, K, MA, PSET, S, TFS, V command causes subsequent moves to go a specified distance ( ), or a specified velocity ( MCØ...
Page 204 VARB ** * GOBUF commands may require up to 4 segments. ** IF statement may require at least 2 segments, each AND or OR compound requires an additional segment. VARI and VARB each require 2 segments. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 205 Allocation Defaults and Limits: The following table identifies memory allocation defaults and limits for the Gem6K drive. When specifying the memory allocation, use only even numbers. The minimum storage capacity for one partition area (program or compiled) is 1,000 bytes. Feature Gem6K Total memory (bytes)
Page 206 (h or H) must be placed in front of the value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 207 The axis moving status is also reported with bit #1 of the commands TASF Syntax: where is the binary variable number, VARBn=MOV can be used in an expression such as , or IF(MOV=b1) IF(MOV=h1) If the axis is in motion, the bit will be a one (1). If the axis is not in motion, the bit will be a zero (Ø). Example: COMEXC1 ;...
Page 208 WHILE(NOT VAR1=10) ; Compare variable 1 to 10, and logically not the expression WRVAR1 ; Write out variable 1 VAR1=VAR1 + 1 ; Set variable 1 to increment 1 by 1 NWHILE ; End WHILE statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 209 NTADDR Ethernet IP Address Type Product Communication Interface Syntax NTADDR<i,i,i,i> GT6K Units i,i,i,i = IP address (commas are used in place of periods) GV6K Range i = 0-255 Default 192,168,10,30 (network address is 192.168.10.30) Response NTADDR: *192,168,10,30 See Also TNTMAC Use the command to change the Gem6K drive’s IP address (e.g., to correct an IP address conflict).
Page 210 WHILE NWHILE location within the same program will cause the next statement encountered to be nested WHILE within the previous statement, unless an command has already been encountered. WHILE NWHILE Programming order: WHILE(expression) ...commands... NWHILE Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 211 Example: WHILE(IN=b1X0) ; While input 1 = 1, input 3 = 0, execute commands between WHILE & NWHILE ; Wait 5 seconds ; Transfer position of encoder NWHILE ; End WHILE statement ONCOND On Condition Enable Product Type On Condition (Program Interrupt) Syntax <a_><!><%>ONCOND...
Page 212 Within the program, the programmer is responsible for checking which ON condition caused the branch, if multiple ON conditions ( ) have been enabled. Once a branch to the program occurs, ONCOND Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 213 program will not be called again until after it has finished executing. After returning from the program, the condition that caused the branch must evaluate false before another branch to the program will be allowed. Multi-Tasking: Each task has it own Program and its own set of On conditions.
Page 214 ; Sets move distance to 20 units ; Initiate motion ; End program definition ONP bigmov ; Set ON program to bigmov ONVARB0,12 ; On VAR2 <= 0, or VAR2 >= 12 GOSUB to ONP program ONCOND0001 ; Enable ONVARB condition Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 215 [ OR ] Type Product Operator (Logical) Syntax See below GT6K Units GV6K Range Default Response See Also [ AND ], IF, [ NOT ], NWHILE, REPEAT, UNTIL, WAIT, WHILE Use the command as a logical operator in a program flow control command ( REPEAT UNTIL WHILE...
Page 216 If you wish to affect only one output, instead of all outputs, use the bit select ( ) operator followed by the number of the specific output. For example, turns on output #5. OUT.5-1 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 217 Onboard Outputs (on the “ ” connector) — Relationships: DRIVE I/O Current Relationships: OUTLVL Setting OUT State * TOUT status OUTLVL0 (default) OUT1 Sinking current No current flow OUTLVL0 OUT0 OUTLVL1 OUT1 No current flow OUTLVL1 OUT0 Sinking current * The output is “active” when it is commanded by the OUT, OUTP, or POUT command (for example, OUTxx1 activates output #3).
Page 218 , the drive will respond with an error message (“ OUTFNCi-A OUTPUT ”) and the command will not be executed (but command processing will BIT USED AS OUTFNC OUTALL continue). Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 219 The number of external outputs varies by configuration of I/O bricks used. Refer to page for details. Example: OUTALL1,4,1 ; Turn on on-board outputs 1-4 2OUTALL3,8,1 ; On I/O brick 2, turn on outputs at I/O locations 3-8 ; (I/O pins 3-8 on SIM1) OUTBD Brake Output Delay Product...
Page 220 (D) and issuing a GO command. (An alternative is to disable the limits with the LH0 command, but this is recommended only if the motor is not coupled to the load.) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 221 Stall Indicator (GT6K only): Output activates when a stall is detected. To detect an encoder stall, you must first connect an encoder and enable stall detection with the ESTALL1 command. To detect a drive stall (no encoder required),you must enable drive stall detection with the DSTALL1 command. For details refer to the Programmer's Guide.
Page 222 * The output is “active” when it is commanded by the OUT, OUTP, or POUT command (for example, OUTxx1 activates output #3). Example: OUTLVL1x0 ; Configure onboard output 1 to be active high, output 2 unchanged, ; and output 3 as active low Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 223 OUTPA Output on Position Type Product Output Syntax <!>OUTPA,,<r>, GT6K Units & 2 b = enable/modal bits; GV6K r = scalable distance i = time (ms) Range b = 1 (enable output on position) or 0 (disable) b = 1 (incremental position) or 0 (absolute position) r = -2,147,483,648 to +2,147,483,647 i = 0-65535 Default...
Page 224 The actual data transfer occurs with the command. Refer to the command for a description of the data transfer process. command has four fields ( OUTTW ,<i-i>,, Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 225 Data Field Description Field 1: Set #: There are 4 possible OUTTW sets (1-4). This field identifies which set to use. Field 2: <i-i> Strobe Output #s: Data reads with the TW command are strobed by the outputs selected in this field.
Page 226 ; If the captured commanded position is less than 40, do the ; IF statement VAR2=PCCA+10 ; Add 10 to the captured commanded position (captured when ; trigger input TRIG-A became active) and assign the sum to ; variable #2 ; End IF statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 227 [ PCE ] Position of Captured Encoder Type Product Assignment or Comparison Syntax See below GT6K Units GV6K Range Default Response See Also ENCCNT, INFNC, [ PCMS ], [ PE ], PSET, SCALE, SCLD, SFB, TPCE, [ TRIG ], TRGLOT, TTRIG Use the operator to assign the captured encoder position to a variable, or to make a comparison against another value.
Page 228 ; less than 4000, do the IF statement VAR2=PCME+10 ; Add 10 to the captured master encoder position ; (captured when master trigger input became active) and ; assign the sum to variable #2 ; End IF statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 229 [ PCMS ] Captured Master Cycle Position Type Product Assignment or Comparison Syntax See below GT6K Units GV6K Range Default Response See Also ENCCNT, FOLMAS, INFNC, [ PCC ], [ PCE ], [ PE ], PSET, SCALE, SCLMAS, SFB, TPCMS, [ TRIG ], TRGLOT, TTRIG Use the operator to assign the captured master cycle position for a follower axis to a variable, or to PCMS...
Page 230 If the scaling factors are changed, the program must be downloaded again. • Compiled Motion ONLY: After compiling (PCOMP) and running (PRUN) a compiled profile, the profile segments will be deleted from compiled memory if you cycle power or issue a RESET command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 231 COMPILED MOTION When using compiled loops (PLOOP and PLN), the last segment within the loop must end at zero velocity or there must be a final GOBUF segment placed outside the loop. Otherwise an error will result when the profile is compiled. The error is “ERROR: MOTION ENDS IN NON-ZERO VELOCITY”. PLC PROGRAM EXAMPLE: see PLCP command description.
Page 232 ; Display the new position. The new encoder position ; report should be: *TPE0 PESET1000 ; Set absolute position to 1000 units ; Display the new position. The new encoder position ; report should be: *TPE1000 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 233: Tout0000
PEXE Execute a Compiled Program Type Product PLC Mode Compiled Program Execution Syntax i%PEXEt GT6K Units i = Task Number GV6K t = Program Name (6 characters or less) Range i = 1-10 Default Response See Also EXE, GOBUF, PCOMP, PLCP, SCANP Use the command to start a compiled program, or compiled...
Page 234 (execute a compiled program in a specific task — e.g., PEXE 3%PEXE PLCP4 • (integer variables). VARI • (binary variables). Bitwise operations are limited to Boolean And ( ), Boolean Inclusive VARB & Or ( ), and Boolean Exclusive Or ( Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 235 2. Compile the PLCP program ( ). A compiled program runs much faster than a standard PCOMP PLCPi program. 3. Execute the PLCP program ( ). When the PLCP program is launched with the SCANP PLCPi SCANP command, it is executed in the “PLC Scan Mode”. The advantage of the PLC Scan Mode is that the PLCP program is executed within a dedicated 0.5 ms time slot during every 2 ms system update period.
Page 236 PMAS comparison against another value. This value may be used for subsequent decision making, or for recording the cycle position corresponding to some other event. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 237 is unique among position assignment variables, because its value rolls over to zero each time the PMAS entire master cycle length ( value) has been traveled. If it is desired to on a master FMCLEN WAIT GOWHEN cycle position of the next master cycle, one master cycle length (value of ) should be added to the FMCLEN master cycle position specified in the argument.
Page 238 ; response should now be: *TPME20000 (what was considered ; position 10,000 is now considered position 20,000). PMECLR ; Clear any offset applied to the master encoder position TPME ; Report master encoder position with no offsets. ; Response should be: *TPME10000. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 239 PORT Designate Destination Communication (“COM”) Port Type Product Communication Interface Syntax <a_><!>PORT GT6K Units i = port number GV6K Range 0 (set to active port), 1 (COM1), or 2 (COM2) NOTE: “COM1” is the “RS-232/485” or “ETHERNET” connector. “COM2” is the “RS-232” connector. Default Response PORT:...
Page 240 If you desire to “pulse” an output (turn on for a given amount of time), then use the command along POUTA with the command. For example: GOWHEN(T=n) POUTA.3-1 ; Turn on output 3 GOWHEN(T=120) ; Wait for 120 milliseconds POUTA.3-0 ; Turn off output 3 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 241 PRUN Run a Compiled Profile Type Product Compiled Motion; PLC Program Syntax <a_><!>PRUN<t> GT6K Units t = text (name of path program) GV6K Range text name of 6 characters or less Default Response See Also COMEXC, DEF, END, PCOMP, PUCOMP, GOBUF, PLCP, PLOOP, PLN, SCANP Use the command to start execution of a previously compiled program (a...
Page 242 Example: PSET0 ; Wherever the present actual or commanded position happens to be, ; consider that position to have an absolute position of zero. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 243 [ PSHF ] Net Position Shift Type Product Following; Assignment or Comparison Syntax See below GT6K Units GV6K Range Default Response See Also FOLEN, FOLMAS, FSHFC, FSHFD, SCALE, SCLD, TPSHF operator is used to assign to a numeric variable the value of the net (absolute) follower axis PSHF position shift that has occurred since that last command.
Page 244 ATAN RADIANØ ATAN If a value is given in radians and a conversion is needed to degrees, use the formula: 360° = 2π radians. Example: RADIAN1 ; Set trigonometric functions to radian mode Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 245 Registration Enable Type Product Registration Syntax <a_><!>RE GT6K Units b = 0 (disable), 1 (enable) GV6K Range Default Response *RE0 See Also [ AS ], COMEXC, [ ER ], INFNC, [ PCC ], [ PCE ], [ PCMS ], REG, REGLOD, REGSS, TAS, TER, TPCC, TPCE, TPCMS, TRGLOT, [ TRIG ], TTRIG command enables the registration feature.
Page 246 ; Set deceleration to 2 units/sec/sec ; Set velocity to 0.5 units/sec REGB13000 ; Set trigger B's registration distance to 13,000 units ; (registration B move will use the A, AD, & V values above) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 247 ; Enable registration ; Set acceleration to 50 units/sec/sec AD50 ; Set deceleration to 50 units/sec/sec ; Set velocity to 10 unit/sec D50000 ; Set distance to 50000 units ; Initiate motion ; End program definition Registration Profile: 1st Registration Mark (TRG-A) occurs 2nd Registration Mark (TRG-B) occurs...
Page 248 INFNC, RE, REG, REGSS, SCLD, TRGLOT command specifies the distance to travel before a registration input will be recognized. If REGLOD scaling is enabled ( ), the lock-out distance is scaled by the value. SCALE1 SCLD Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 249 Stepper axes: The lock-out distance is measured incrementally from the start of motion to the commanded position. Servo axes: The lock-out distance is measured incrementally from the start of motion to the actual position (as measured by the position feedback device), not the commanded position. Example: A print wheel uses registration to initiate each print cycle.
Page 250 Because of , the REGSS first registration move is NOT pre-empted by the second registration input. The registration “single shot” will be reset when you issue a new motion command ( , etc.). PRUN Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 251 REPEAT Repeat Statement Type Product Program Flow Control or Conditional Branching Syntax <a_><!>REPEAT GT6K Units GV6K Range Default Response See Also JUMP, UNTIL command, in conjunction with the command, provide a means of conditional program REPEAT UNTIL flow. The command marks the beginning of the conditional statement. The commands between the REPEAT and the command are executed at least once.
Page 252 GOSUB called program finishes. Example: DEF pick ; Begin definition of program named pick ; Initiate motion ; End program definition RUN pick ; Executes program named pick pick ; Executes program named pick Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 253 Stop Motion Type Product Motion Syntax <a_><!>S GT6K Units GV6K Range b = 0 (do not stop) or 1 (stop) Default Response No response, instead motion is stopped. See Also C, COMEXC, COMEXS, GO, K The Stop command instructs the motor to stop motion. The command will bring the axis to rest using the last deceleration values ( ) entered.
Page 254 ), all entered data is multiplied by the SCALEØ SCALE1 appropriate scale factor: Type of Motion Accel/Decel Scaling Velocity Scaling Distance Scaling Standard Point-to-Point Motion SCLA SCLV SCLD Following SCLA SCLV SCLD for follower distances SCLMAS for master distances Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 255 When Should I Define Scaling Factors? Scaling calculations are performed when a program is defined or downloaded. Consequently, you must enable scaling ( ) and define the scaling factors ( ) prior to defining SCALE1 SCLD SCLA SCLV SCLMAS ), uploading ( ), or running ( ) the program.
Page 256 This means that there can be a time lag of several update periods before the outputs, analog outputs, and/or variables affected by the PLCP program are updated. The order Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 257 in which the scan takes place should be considered when creating PLCP programs to minimize the effects of such a lag. One way to avoid the lag is to create a binary variable as a temporary holding place for the desired output states.
Page 258 999.9999 ∗ DRES GT6K Stepper SCLA SCLA 0.001 ∗ ERES 999.9999 ∗ ERES GV6K Servo Encoder Feedback: Encoder Feedback: SCLA SCLA MORE ABOUT SCALING For additional details on scaling, including scaling examples, refer to page 16. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 259 SCLD Distance Scale Factor Type Product Scaling Syntax <a_><!>SCLD GT6K Units i = counts/unit GV6K Range 1 - 999,999 Default Response SCLD: *SCLD1 See Also [ ANI ], D, [ FB ], FOLRN, FSHFD, [ PC ], [ PCC ], [ PCE ], [ PCMS ], [ PE ], [ PER ], PSET, [ PSHF ], [ PSLV ], REG, REGLOD, SCALE, SCLA, SCLV, SCLMAS, SFB, SMPER, TANI, TFB, TPC, TPCC, TPCE, TPCMS, TPE, TPER, TPSHF, TPSLV, TSTAT...
Page 260 ; Set follower-to-master Following ratio denominator to 1. ; This sets the ratio to 1:1 (scaled the SCLMAS). ; The actual ratio in counts = 25000 to 4000 = 6.25 follower ; axis counts per master count. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 261 SCLV Velocity Scale Factor Type Product Scaling Syntax <a_><!>SCLV GT6K Units i = counts/unit GV6K Range 1 - 999,999 Default 4000 (Servos auto-detect based on SFB: 4000 if encoder, 4096 if resolver) Response SCLV: *SCLV4000 See Also ANIRNG, FMAXV, HOMV, HOMVF, JOGVH, JOGVL, JOYVH, JOYVL, SCALE, SCLA, SCLD, SFB, TSTAT, V NOTE: All scaling settings (SCALE, SCLA, SCLD, SCLV and SCLMAS) are automatically saved in the Gem6K’s battery-backed RAM.
Page 262 ERES MOTOR FEEDBACK (default is 4000 counts/rev) 4—Resolver connector Resolver counts ERES MOTOR FEEDBACK (GV6K must have Resolver option) (fixed at 4096 counts/rev) * With scaling enabled (SCALE1), feedback is scaled by the SCLD value. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 263 SGAF Acceleration Feedforward Gain Type Product Tuning Syntax <a_><!>SGAF GT6K Units i = percent GV6K Range 0 – 500 Default (applicable only to Response SGAF: *SGAF100 servo axes) See Also DMTJ, LJRAT, SFB, SGENB, SGSET, SGVF, TGAIN, TSGSET Use the command to set the gain for the acceleration feedforward term in the servo control algorithm.
Page 264 • Servo tuning process: refer to the Hardware Installation Guide or to the Motion Planner help system. • Check the values of all active gains ( is one of many servo gains): use SGINTE TGAIN. • Creating and invoking gain sets: see SGSET SGENB TGAIN TSGSET. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 265 SGIRAT Current Damping Ratio Type Product Tuning Syntax <a_><!>SGIRAT<r> GT6K Units r = ratio GV6K Range 0.500 to 2.000 : ±0.001 Default 1.000 (applicable only to Response SGIRAT: *SGIRAT.775 servo axes) See Also DIBW, SGPSIG, SGPRAT, SGVRAT, TGAIN, TSGSET command sets the damping ratio (Zeta) of the current loop. Higher values produce a more stable SGIRAT current loop response.
Page 266 GV6K’s move profile routine to SGVF produce an estimated torque command that gets added to the servo control signal. The value is normalized Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 267 to the current setting of both the motor and load viscous damping terms ( , respectively) as DMTD LDAMP shown in the equation below. ⋅ Estimated velocity torque DMTD LDAMP velocity command SGVF value 100% Setting to 100% will theoretically produce zero following error during the constant velocity portion SGVF of a move profile.
Page 268 RADIAN command. Parentheses ( () ) must be placed around the SIN operand. The result will be specified to 5 decimal places. Example: RADIAN1 VAR1=5 * SIN(PI/4) ; Set variable 1 equal to 5 times the sine of Pi divided by 4 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 269 SINAMP Virtual Master Sine Wave Amplitude Type Product Following Syntax <a_><!>SINAMP GT6K Units i = amplitude GV6K Range 0-8192 (max. peak to peak is 16384) Default Response SINAMP: *SINAMP0 See Also FOLMAS, FVMACC, FVMFRQ, SINANG, SINGO Use the SINAMP command to define the amplitude of the internal sine wave when it has been designated as the virtual master.
Page 270 ( ) and bit #9 is set. The DRIVE0 TASX command re-enables the drive, clears bit #9, and sets equal to DRIVE1 TASX TVEL TVELA You can check the actual velocity error with the command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 271 If the value is set to zero ( ), the velocity error condition is not monitored, allowing the SMVER SMVER0 velocity error to accumulate without causing a fault. [ SQRT() ] Square Root Product Type Operator (Mathematical) Syntax See below GT6K Units GV6K...
Page 272 ; If the system status contains 1s in bit locations 1, 2, 3, ; 5, 6, 7, & 8, and 0s in every other bit location, do the IF ; statement ; End of second IF statement ; End of first IF statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 273 STARTP Start-Up Program Type Product Program Definition Syntax <a_><!>STARTP<t> GT6K Units t = text (name of program) GV6K Range Text name of 6 characters or less Default Response STARTP: *STARTP MAIN See Also DEF, RESET, SCALE command assigns an existing program to be executed automatically when the Gem6K drive is STARTP powered up or reset.
Page 274 ) before motion can STRGTD STRGTV be determined complete. Axis status bit #24 (see , or ) indicates when the axis is within the TASF Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 275 zone specified with ; this status bit is usable even if the Target Zone Mode is not STRGTD STRGTV enabled ( STRGTE0 If the load does not settle into the target zone before the timeout period set by , the Gem6K drive STRGTT detects an error (see , or...
Page 276 To check the status of only one task, you may use the bit select ( ) operator. For example, assigns the binary state of Task2 to binary variable 1; or VARB1=SWAP.2 WAIT(SWAP.2=b1) establishes a wait condition that evaluates true when Task2 becomes active. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 277 Time Delay Type Product Program Flow Control Syntax <a_><!>T<r> GT6K Units r = seconds GV6K Range 0.001-999.999 Default Response See Also GOWHEN, PS, [ SS ], [ TIM ], TTIM, TSS, WAIT The Time Delay ( ) command pauses command processing for r seconds before continuing command execution.
Page 278 12-bit analog-to-digital converter (ADC). Under the default ANI voltage range, set with , the range of the operator is -10.000VDC to +10.000VDC (see ANIRNG ANIRNG command for optional voltage ranges). Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 279 TANO Transfer Analog Output Value Type Product Transfer Syntax <a_><!><@>TANO.i GT6K Units B = I/O brick number GV6K i = input/output location on brick “B” Range B = 1-8 (depending on I/O brick configuration) i = 1-32 (depending on I/O brick configuration) Default Response 1TANO.9: *1TANO.9=0.00...
Page 280 : If one or more of these conditions exist, the drive automatically disables (DRIVE0), it activates any output configured as a fault output, and it opens the dry contact relay (labeled “RELAY COM” and “RELAY N.O.”) on the 4 pin removable connector. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 281 TASF Transfer Axis Status (full-text report) Type Product Transfer Syntax <a_><!>TASF GT6K Units GV6K Range Default Response TASF: (see example below) See Also [ AS ], [ ASX ], DSTALL, ESTALL, GOBUF, GOWHEN, HOM, JOG, JOY, MA, MC, SMPER, STRGTD, STRGTE, STRGTT, STRGTV, TAS, TASX, TSTAT command returns a text-based status report.
Page 282 TASX FULL-TEXT STATUS REPORT AVAILABLE The TASX status command reports a binary bit report. If you would like to see a more descriptive text-based report, use the TASXF command description. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 283 Bit # GT6K GV6K To Clear This Status Bit: Function (1 = Yes; Ø = No) Motor temperature fault (hardware switch in the motor). DRIVE1 Low voltage fault DRIVE1 Drive over-temperature fault (hardware thermal sensor in DRIVE1 drive). RESERVED ---------- Resolver failure.
Page 284 *Bad Hall State (RESERVED for GT6K) *Unrecognized Hardware *User Fault *Keep Alive Active *Power Dissipat Fault *RESERVED *RESERVED *Motor Config Warning *ORES Failure *Motor Thermal Fault (RESERVED for GT6K) *Torque at Limit (RESERVED for GT6K) *RESERVED Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 285 TCMDER Transfer Command Error Type Product Transfer or Program Debug Tool Syntax <a_><!>TCMDER GT6K Units GV6K Range Default Response TCMDER: *(incorrect command) See Also ERRBAD, [ SS ], TSS For program debugging, use to transfer the command that the drive detects as an error. This is TCMDER especially useful if you receive an error message when running or downloading a program, because it catches and remembers the first command that caused the error.
Page 286 Bit 28 Warning GT6K DIGNC = 0 Enter non zero value. Bit 28 Warning GT6K DIGND = 0 Enter non zero value. Bit 28 Warning GV6K DMTIP = 0 Enter non zero value. Bit 28 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 287 Fault / Drive TASX Code Warning Type Condition Method to clear Bit Set Warning Both DMTIC is too high for power level Is drive sized properly? Lower Bit 28 of drive. The drive’s continuous DMTIC. current rating is used instead. Warning GV6K DMTLIM is too high for the drive’s Lower DMTLIM and/or recheck...
Page 288 ), then the PCOMP line item for a compiled program is amended with “ ”, and the line item for a GOBUF COMPILED AS A PATH compiled PLCP program is “ .” COMPILED AS A PLC PROGRAM Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 289 TDPTR Transfer Data Pointer Status Type Product Data Storage Syntax <a_><!>TDPTR GT6K Units GV6K Range Default Response TDPTR *TDPTR1,1,1 See Also DATPTR, DATSIZ, [ DPTR ] command responds with a 3-integer status report ( ). The first integer is the number of the TDPTR i,i,i current active data program (the program number specified with the last...
Page 290 Maximum position error (set with the SMPER command) is DRIVE1 exceeded. RESERVED --------- --------- GOWHEN condition already true when a subsequent GO, FSHFC, or FSHFD is executed. RESERVED RESERVED Bad command detected TCMDER Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 291 RESERVED RESERVED Cable to an expansion I/O brick is disconnected, or power to the Reconnect I/O brick, I/O brick is lost. issue ERROR.18-0, (Multi-tasking: This condition also kills all tasks.) then ERROR.18-1 RESERVED --------- RESERVED --------- RESERVED --------- RESERVED --------- Ethernet Client connection error.
Page 292 *Stop Input Asserted NO *Enable Input Open *Profile Impossible *Target Zone Timeout NO *Max Position Error *RESERVED *GOWHEN cond true *RESERVED *Bad command *RESERVED *I/O Brick Failure *RESERVED *RESERVED *RESERVED *RESERVED *Client Connect Err *Client Polling Err Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 293 TERRLG Transfer Error Log Type Product Transfer Syntax <a_><!>TERRLG GT6K Units GV6K Range Default Response TERRLG: *TAS0000_0000_0000_0000_0000_0000_0000_0000 *TASX0000_0000_0000_0000_0000_0000_0000_0000 *TDHRS104.5 *TDTEMP45 *TMTEMP100 See Also CERRLG, ERRORL, TAS, TASX, TDHRS, TDTEMP, TMTEMP The error log is updated every time an event occurs, as selected by the command.
Page 294 Axis Status (TAS & AS) bits 1-4, except that each bit indicates the current state of the ratio, rather than the current state of the velocity. FOLMAS Active A master is specified with the FOLMAS command. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 295 FOLEN Active Following has been enabled with the FOLEN command. Master is Moving The specified master is currently in motion. Master Dir Neg The current master direction is negative. (bit must be cleared to allow Following move in preset mode–MCØ). Bits 5-8 indicate the status required for Following motion (i.e., a master must be assigned, Following must be enabled, the master must be moving, and for many features, the master direction must be positive).
Page 296 *Master Cyc Pos Neg *Master Cyc Num > 0 *Pos Prediction On *Master Filtering On *Performing FRC move *RESERVED *Master Window given *Inside Master Window *OK to do FGADV move *FGADV move underway *RESERVED *FMAXA/FMAXV limited *RESERVED Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 297 TGAIN Transfer Active Gains Type Product Transfer Syntax <a_><!>TGAIN GT6K Units GV6K Range Default (applicable only to Response (list of all gain values) servo axes) See Also SGENB, SGSET, TSGSET, (see list below) This command allows you to display the value of each of the gains presently in effect (see list below). Each time an individual gain is entered, the register is updated accordingly.
Page 298 By specifying a zero in the first field, an alarm will occur repeatedly. Example: INTHW.21-1 ; Enable checking for the timer-driven alarm event TIMINT1,10000 ; Trigger alarm once after 10000 ms, do not restart the timer TIMST0 ; Reset and start timer Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 299 TIMST Start Timer Type Product Timer Syntax <a_><!>TIMST<r> GT6K Units b = Enable bit GV6K r = time (milliseconds) if b = 0, task # if b = 1 Range b = 0 (reset and start) or 1 (start from previous TIMSTP) r = absolute time 0-999,999,999 if b = 0, or r = task # 0-10 if b = 1 Default...
Page 300 < 1/3 of V+ INLVL1 (active high) ≥ 2/3 of V+ INLVL1 (active high) Position 1 (sinking) Closed * Factory default: INLVL0 (active low) and jumper in position 3 (sourcing). Move jumper to position 1 for sinking. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 301 TINO Transfer Other Input Status Type Product Transfer Syntax <a_><!>TINO<.i> GT6K Units (bit #6 = ENABLE input. 1 = OK for motion) GV6K Range Default Response TINO: *TINO0000_0100 TINO.6: *1 (status of input number 6 – ENABLE input) See Also [ INO ], TINOF command returns the status of the Enable input (bit #6).
Page 302 TLABEL The response to a command if the labels are defined in a program named TLABEL call open prog1 as follows: *CALL DEFINED IN PROGRAM PROG1 *OPEN DEFINED IN PROGRAM PROG1 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 303 TLIM Transfer Limits Type Product Transfer Syntax <!><a>TLIM<.i> GT6K Units i = limit input number GV6K Range System configuration dependant Default Response TLIM: *TLIM110 TLIM.2: *0 (status of negative-direction limit) See Also HOM, INDEB, INFNC, [ LIM ], LIMFNC, LIMLVL, TAS, TASF, TIN command returns the current hardware state of the limit inputs located on the “...
Page 304 The TNT command reports the current Ethernet conditions (see sample response below). *GEM6K ETHERNET STATUS *Ethernet enabled: NTFEN2 *GEM6K IP address: 172.20.34.156 *GEM6K Network Mask: 255.255.255.0 *GEM6K Ethernet address: 0-144-85-0-0-1 (decimal) *GEM6K Ethernet address: 0-90-55-0-0-1 (hex) *GEM6K Ethernet connected Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 305 How to interpret the status report • Ethernet enabled ( is recommended as the standard Ethernet communication mode, NTFEN NTFEN2 even if you are using a closed network and no file sharing. is especially helpful if you are using NTFEN2 Windows NT, or Windows 95/98 with File Sharing and/or an open network.
Page 306 GT6K: The reported value is measured in commanded counts (“motor counts”). GV6K: The reported value is measured in feedback device counts (resolution set with ). The ERES commanded position ( ) and the actual position ( ) are used in the position error calculation TPER Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 307 Example (GV6K only): ; Display the commanded position. Example is *TPC4000 (setpoint ; displayed in counts) ; Display the actual position. Example is *TPE4004 (actual ; position displayed in counts) TPER ; Display position error. Example is *TPER-4 (error displayed ;...
Page 308 ; when trigger A (TRG-A) was activated TPCEB ; Report captured encoder position, which was captured ; when trigger B (TRG-B) was activated TPCEM ; Report captured encoder position, which was captured ; when the master trigger (TRG-M) was activated Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 309 TPCME Transfer Captured Master Encoder Position Type Product Transfer Syntax <a_><!>TPCME GT6K Units GV6K Range Default Response TPCME *TPCME+0 See Also INFNC, MEPOL, MESND, [ PME ], [ PCME ], [ PCMS ], PMECLR, PMESET, TPME, TPCMS Use the command to display the current captured master encoder position. The master encoder is TPCME connected to the connector labeled “Master Encoder.”...
Page 310 If you PSET PSET are using a stepper axis in the mode, use the command instead. ENCCNT1 PESET The position error calculation is: TPER = TPC – TPE Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 311 TPER Transfer Position Error Type Product Transfers Syntax <a_><!>TPER GT6K Units Reported value represents distance units (scalable by SCLD) GV6K Range Range of the reported value is ±2,147,483,648 Default (applicable only to Response TPER: *TPER+0 servo axes) See Also ENCCNT, DMODE, DMONAV, DMONBV, DRES, ERES, [ FB ], [ PC ], [ PE ], [ PER ], SFB, SMPER, TANI, TAS, TFB, TPE, TPC command reports the present position error.
Page 312 (with a value other than zero) is issued. FOLMAS If scaling is enabled ( ), the value is scaled by the distance scaling factor ( ). If scaling is SCALE1 PSHF SCLD not enabled, the value is in commanded counts. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 313 TPSLV Transfer Current Commanded Position of Follower Axis Type Product Following; Transfer Syntax <a_><!>TPSLV GT6K Units (Reported value represents commanded counts, scalable by SCLD) GV6K Range Default Response TPSLV *TPSLV+0 See Also FMCNEW, FMCP, [ PSLV ], SCALE, SCLD command transfers the current commanded position of the follower axis. The master must be TPSLV assigned first ( command) before this command will be useful.
Page 314 ; is: 07 01 00 00 01 86 A0. Note that 07 hex represents a command ; memory requirement of 19 bytes. ; Translate initiate motion command GO1. Response displayed ; is: 04 07 03 01. Note that 04 hex represents a Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 315 ; command memory requirement of 4 bytes. TREV Transfer Revision Level Product Type Transfer Syntax <a_><!>TREV GT6K Units GV6K Range Default Response TREV: *TREV92-016740-01-5.3.25 GEM6K GV6K-L3E D0.11 F1.3 (response varies by product) See Also RESET, RFS The Transfer Revision Level ( ) command reports the following information: TREV •...
Page 316 TRGFN TRGFN in Compiled Motion: When used in a compiled program, a (conditional function) TRGFNc1x command will pause the profile in progress (motion continues at constant velocity) until the trigger is Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 317 activated to execute the next move profile. When used in a compiled profile, the command TRGFN consumes one segment of compiled memory. When used in a compiled Following profile, the TRGFN command is ignored on the reverse Following profile (i.e., when the master is moving in the opposite direction of that specified in the command).
Page 318 TSCF *TSCbbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb_bbbb Bit 1 Bit 32 Bit # Function (1 = Yes; Ø = No) RESERVED RESERVED A PLC program is being executed in Scan Mode (SCANP). 4-32 RESERVED Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 319 TSCF Transfer Controller Status (full-text report) Type Product Transfer Syntax <a_><!>TSCF GT6K Units GV6K Range Default Response TSCF: (see example below) See Also [ SC ], SCANP, TSC command provides a full-text report of the current “Controller Status” register. This is an TSCF alternative to the binary report ( Example...
Page 320 ) is that each task is associated with motion. This means, for TSKAX1 example, that when the load hits an end-of travel limit, program execution will be killed within that task, and in all other tasks associated with motion. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 321 Use the command to eliminate altogether a task’s association with motion. This would be TSKAX0 appropriate for a task that is not involved in motion control, but may control I/O or start other tasks. Example: DEF main ; Begin definition of program called "main" 1%TSKAX1 ;...
Page 322 Pause is Active (PS command or pause input, INFNCi-E) Wait is in progress (WAIT) Compiled memory is 100% full Monitoring On Condition (ONCOND) 31 * Compile operation failed (PCOMP) Waiting for Data (READ) EXE Failed (see EXE command) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 323 * Bit #31: failed PCOMP compile is cleared on power up, RESET, or after successful compile. Possible causes include: • Errors in profile design (e.g., change direction while at non-zero velocity; distance & velocity equate to < 1 count per system update; preset move profile ends in non-zero velocity) •...
Page 324 STRGTV reported value represents milliseconds. This command is usable whether or not the Target Zone Settling Mode is enabled with the command. STRGTE For more information on target zone operation, refer to the Programmer's Guide. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 325 TSWAP Transfer Current Active Tasks Type Product Transfer Syntax <!>TSWAP GT6K Units GV6K Range Binary response status of tasks (0 = inactive, 1 = active). 10-bit pattern represents tasks 1-10 from left to right. Default Response TSWAP: *TSWAP1001_0000_00 (tasks 1 and 4 are active) TSWAP.3: (task 3 is inactive) See Also...
Page 326 TTRQ DMODE modes, reports the actual internal torque/force setpoint as a percentage of . Several TTRQ DMTSCL commands may limit the maximum value of . These commands include TTRQ DMTLIM DMVLIM DMTIC DMTIP TDICNT TDIMAX Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 327 TTRQA Transfer Actual Torque/Force Type Product Transfer Syntax <a_><!>TTRQA GT6K Units percent of full-scale torque/force set by DMTSCL command GV6K Range -100.00% to +100.00% : ±0.01 Default (applicable only to Response TTRQA: *TTRQA55 servo axes) See Also DMONAV, DMONBV, DMTKE, DMTLIM, DMTSCL, TTRQ command reports the calculated torque/force, based on q-axis current and the motor’s Ke, as a TTRQA percentage of the full-scale torque/force set by...
Page 328 ), the value returned will be in encoder SCLV SCALEØ revs/sec or resolver revs/sec. Example: TVELA ; Reports the current actual velocity; since no motion is ; commanded, the servoing velocities are reported. ; Example response is: *TVELA+0.0097 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 329 TVMAS Transfer Current Master Velocity Type Product Following and Transfer Syntax <a_><!>TVMAS GT6K Units GV6K Range Default Response TVMAS *TVMAS+0 See Also FFILT, FOLMAS, SCALE, SCLMAS, V, [ VMAS ] command transfers the current velocity of the master. The master must be assigned first TVMAS command) before this command will be useful.
Page 330 To make a comparison against a binary value, the letter b (b or B) must be placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make a Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 331 comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9. Syntax: where “ ”...
Page 332 DVAR, VARB, VARCLR, VARI, VCVT, VARS, WRVAR Numeric variables can be used to store any real number value, with a range from -999,999,999.99999999 to +999,999,999.99999999. The information is assigned to the variable with the equal sign (e.g., VAR1=32.3 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 333 All variables (numeric [ ], integer [ ], binary [ ], and string [ ]) are automatically stored in VARI VARB VARS battery-backed RAM. Variables are also used in conjunction with mathematical ( ), trigonometric ( SQRT ATAN ), and bitwise operators ( ).
Page 334 RAM. Integer variables can be used with mathematical ( ) and bitwise operators ( ). For example, & . Numeric ( ) and integer ( ) variables can be mixed in the VARI1=(3+4-7*4/4+3-2/2)*3 VARI Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 335 mathematical expressions. The results, if fractional, are truncated. NOTE: cannot be used with VARI trigonometric operators ( ) and square root ( ATAN SQRT Each variable expression must be less than 80 characters in length, including the part of the VARI1= expression.
Page 336 ) values (real values are truncated in the process). VARI NOTE: Numeric variables ( ) have insufficient range to convert a full 32-bit binary variable ( ). For VARB example, executing the command and then the command yields VARB1=h00000004 VAR1=VCVT(VARB1) error. INVALID DATA Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 337 Numeric-to-Binary Conversion: VAR1=-5 ; Set numeric variable value = -5 VARB1=VCVT(VAR1) ; Convert the numeric value to a binary value and ; store in VARB1 VARB1 ; Display value of VARB1. The response should be: *VARB1=1101_1111_1111_1111_1111_1111_1111_1111 VAR1=25 ; Set numeric variable value = 25 VARB1=VCVT(VAR1) ;...
Page 338 GOBUF issue a command. RESET Any non-zero value that is entered for will result in an immediate error message. Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 339 [ VMAS ] Current Master Velocity Type Product Following; Assignment or Comparison Syntax See below GT6K Units GV6K Range Default Response See Also FFILT, FMCNEW, FMCP, FOLMAS, FOLMD, SCALE, SCLMAS, TVMAS command is used to assign the master velocity value to a variable, or to make a comparison VMAS against another value.
Page 340 ; Transfer position of all encoders NWHILE ; End WHILE statement WHILE(1ANV<2.3) ; While analog channel 1's voltage is less than 2.3 volts, ; execute commands between WHILE and NWHILE ; Transfer commanded position NWHILE ; End WHILE statement Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 341 WRITE Write a Message Type Product Communication Interface Syntax <a_><!>WRITE"<message>" GT6K Units GV6K Range Up to 69 characters (may not use ", ; or :) Default Messages are written to COM1 by default NOTE: “COM1” is the “RS-232/485” or “ETHERNET” connector. “COM2”...
Page 342 Integer variables should be used whenever possible to allow faster math operation than numeric variables ( Example: VARI1=100 ; Set integer variable 1 equal to 100 WRVARI1 ; Transmit integer variable 1 (the value +100 is transmitted) Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 343 WRVARS Write a String Variable Type Product Communication Interface Syntax <a_><!>WRVARS GT6K Units i = variable number GV6K Range i = 1-25 Default Response WRVARS1: No response until a string is placed in VARS1 See Also EOT, [ READ ], VARS, WRITE, WRVAR , WRVARB, WRVARI Use the command to transfer a specific string variable ( ) to the Ethernet port and the...
Page 344 www.comoso.com...
Page 345 Appendix A: Gem6K Command List (Firmware Revision 6.0) Command Description Command Description Task Identifier Set Analog Output Voltage Value Immediate Command Identifier Analog Output Voltage Value [operator] [ ! ] [ ANO ] Global Command Identifier Axis Status [operator] [ @ ] [ AS ] Begin Comment Axis Status, Extended [operator]...
Page 346 Homing Velocity, Final Approach Write Text to RP240 DWRITE HOMVF Enable Serial Communication Home to Encoder Z Channel HOMZ Enable Communication Echo IF Statement IF() ECHO Else Condition of IF Statement Virtual Input Override ELSE Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 347 Command Description Command Description Input Status [operator] Master Encoder Step & Direction Mode [ IN ] MESND Input Debounce Time Axis Moving Status [operator] INDEB [ MOV ] Enable User Status End IF Statement INDUSE User Status Definition Master Cycle Number Status [operator] INDUST [ NMCY ] Enable Specific Inputs...
Page 348 Transfer Revision Level [ TAN() ] TREV Transfer ANI Analog Input Voltage Trigger Functions TANI TRGFN Transfer Analog Output Voltage Trigger Interrupt Lockout Time TANO TRGLOT Transfer Axis Status Trigger Interrupt Status [operator] [ TRIG ] Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 349 Command Description Command Description Transfer Controller Status Transfer Scan Time of PLC Program TSCAN Transfer Controller Status (full-text report) TSCF Transfer Number of Free Segment Buffers TSEG Transfer Servo Gain Set TSGSET Task Axis Association for Multi-Tasking TSKAX Task Turns Before Swapping TSKTRN Transfer Resolver Offset Angle TSROFF...
Page 350 www.comoso.com...
Page 351 Appendix B: ASCII Table CHAR CHAR CHAR ∅ < XOFF > SPACE " & Appendix B: ASCII Table www.comoso.com...
Page 352 ∞ Ö ∅ Ü ∈ − ¢ ∩ £ † ≡ ¥ ± ≥ ƒ ≤ á Ï í ó ÷ ú ≈ ñ ° Ñ • ª · º √ ¿ η ¬ • Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 353 Index maximum, follower axis 140 axis assigned to task (TSKAX) 346 scaling 23 axis moving status 224, 303 scaling factor (SCLA) 275, 279 axis scaling 22 Operator Symbols s-curve profiling 19, 46 axis status 55, 302 homing 167 axis status, extended 56, 305, 306, –...
Page 354 42 delete a program/subroutine (DEL) echo enable 118 enable communication (E) 118 delimiter, comment 5, 29 end-of-transmission characters delimiters, command 5 direction error prompt definition 126 "positive" vs "negative" 69 damping Ethernet Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 355 change with D command 68 step & direction input 224 disable drive 114 output resolution (ORES) 124 disable drive on kill 204 position disable hall sensor error checking assignment/comparison 138, factory default settings 113, 271 (DHALL) 81 factory default settings, restore 272 display capture 180, 246, 333 fast status register 187...
Page 356 131 positive direction 180, 212 kill HALT 163 speed select 180, 212 conditions that will kill a hard limit kill 180, 212 Following move 145 active level (LIMLVL) 214 pause/continue 180, 212 disable drive 204 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 357 immediate (!K) 185, 220 restart 141 maximum 95 input 180, 212 length 141 minimum 95 on stall (ESK) 135 master cycle linear motor pitch 84 Kill 203 number peak current 92 assignment/comparison 226 pole pairs 108 transfer 328 rated speed 101 position rotor inertia 93 assignment/comparison...
Page 358 180 limit encontered 239 erase 124 encoder 120, 180, 246, 333, maximum position error error handling 131 343, 352 exceeded 240 error responses 14 master encoder 247, 334 moving/not moving 239 execution for registration 265 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 359 from compiled program (EXE) relay output enable/disable communication activate on fault condition 304, status 295, 317, 348 lock COM port 215 termination 60, 163 status 330 run, compiled program (PRUN) 260 upon power-up 296 repeat 226, 271, 356 run, PLC program (SCANP) 276 flow control 163, 202, 225, 226, REPEAT 50, 271 run, program (RUN) 272...
Page 360 115 strobe timeout, target zone 303 encoder (ESTALL) 136 PLC 242 timer 351 backlash deadband (ESDB) thumbwheels 243 assignment of value (TIM) 322 time 185 start 323 start timer (TIMST) 323 subroutine stop 323 Gemini GV6K/GT6K Command Reference www.comoso.com...
Page 361 value to cause alarm (TIMINT) position of master encoder using Motion Planner 10 (TPME) 337 motor data table 97 torque position of selected feedback upload/download files actual, status 352 device (TFB) 318 using Motion Planner 8 commanded, status 352 program (TPROG) 337 user fault 180, 212, 240 limit 94 program directory (TDIR) 312...
Page 362 RP240 text 117 while 226, 228, 368 string variable 371 WHILE 50 z-channel 171 winding resistance, motor 98 zero absolute position after homing winding temperature, max. 96 winding thermal resistance, motor 98 zero master cycle position 142 Gemini GV6K/GT6K Command Reference www.comoso.com...

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