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Press F6 on the RP240 periodically until the Gem6K recognizes the RP240. (The RP240
indicates that it has been recognized by beeping when F6 is pressed.)
......... A status check for the presence of an RP240 will be performed at power-up/reset. If an
DRPCHK3
RP240 is present, the Gem6K will initialize the RP240. If an RP240 is not present, no
commands except
received characters.
Each port has its own
DRPCHK
Default values are used until
non-volatile memory. They do not change until you set new values or issue an
advisable to include the
DRPCHK
correct setting for your current application.
DSTALL
Drive Stall Detect Sensitivity
Type
Drive Configuration
Syntax
<a_><!>DSTALL<i>
Units
i = sensitivity level selection
Range
0-50 (0 disables the stall detect function)
Default
0 (disabled)
Response
DSTALL:
*DSTALL20
See Also
ERROR, ESK, ESTALL, KDRIVE, TAS, TASX, TER
The
command sets the sensitivity of the Drive Stall Detection function. An encoder is not required
DSTALL
for this function. (An encoder is required for Encoder Stall Detection; refer to the
A setting of 0 disables the drive stall detect function. Stall "sensitivity" is an empirical metric; therefore, you
must iteratively try different settings to identify the sensitivity setting that works best for your application.
When a Drive Stall is detected, the GT6K responds as follows:
• The stall is reported with Extended Axis Status bit #17 (reported with
• If error-checking bit #1 is enabled (
- The stall is reported with Error Status bit #1 (reported with
- The GT6K branches to the assigned ERRORP program.
• If the Kill-on-Stall feature is enabled (
sent to the motor. If Disable Drive on Kill is enabled (
Example:
SCALE0
; Disable scaling
DEL proga
; Delete program called proga
DEF proga
; Begin definition of program called proga
DSTALL20
; Enable drive stall detect, with sensitivity of 20
ESK1
; Enable kill on stall
MA0
; Incremental positioning mode
MC0
; Preset positioning mode
A10
; Set the acceleration to 10 units/sec/sec
V1
; Set the velocity to 1 unit/sec
D100000
; Set the distance to 100000 units
GO1
; Initiate motion
; 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
; End definition of proga
106
Gemini GV6K/GT6K Command Reference
will have any effect for that port and the COM port will ignore
DWRITE
value, but only one may be set to
is set for the first time.
DRPCHK
command in your start-up program to ensure that it powers up in the
ERROR.1-1
), the GT6K immediately stops pulses from being
ESK1
www.comoso.com
or
at any time.
DRPCHK2
DRPCHK3
values are automatically saved in
DRPCHK
command. It may be
RFS
ESTALL
,
TASX
):
,
, and
TER
TERF
) it disables the drive.
KDRIVE1
Product
Rev
GT6K
6.0
GV6K
n/a
(applicable only to
stepper axes)
command.)
, and
).
TASXF
ASX
).
ER
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