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When an error condition occurs and the associated error-checking bit has been enabled with the
command, the Gem6K will branch to the error program. Depending on the error condition, the branch may
be either a GOTO or GOSUB. If the error condition calls for a GOSUB, then after the
executed, program control returns to the point at which the error occurred. If you do not want to return to
the point at which the error occurred, you can use the
use the
command to go to a different program. If the error condition calls for a GOTO, there is no
GOTO
way to return to the point at which the error occurred.
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
assignment is not saved in battery-backed RAM. To ensure that the
ERRORP
retained when you cycle power or issue a
program assigned with the
STARTP
If you wish the branch to the error program to occur at the time the error condition is
detected, use the continuous command execution mode (COMEXC1). Otherwise, the
branch will not occur until motion has stopped.
Canceling the Branch to the Error Program: The error program will be continuously called/repeated
until you cancel the branch to the error program. (This is true for all cases except error condition #9, enable
input activated, in which case the error program is called only once.) There are three ways to cancel the
branch:
• Disable the error-checking bit with the
checking bit you wish to disable. For example, to disable error checking for the kill input activation (bit
#6), issue the
ERROR.6-0
• Delete the program assigned as the
• Satisfy the How to Remedy the Error requirement identified in the table below.
In addition to canceling the branch to the error program, you must also remedy the cause
of the error; otherwise, the error program will be called again when you resume
operation. Refer to the How to Remedy the Error column in the table below for details.
ERROR
Cause of the Error
Bit #
1
Stepper axes only:
Stall detected (Stall Detection and
Kill On Stall must be enabled
first—see ESTALL or DSTALL,
respectively—and ESK1 enabled)
2
Hard Limit Hit. An input defined as
an end-of-travel input (LIMFNC or
INFNC) became active. Hard limits
must be enabled (see LH).
3
Soft Limit Hit (soft limits must
be enabled first—see LS)
4
Drive Fault (Detected only if drive
enabled – DRIVE1).
122
Gemini GV6K/GT6K Command Reference
HALT
MULTI-TASKING
RESET command
command.
WHEN TO BRANCH
command, where "
ERROR.n-0
command. To re-enable the error-checking bit, issue the
program (
ERRORP
DEL <name of program>
NOTE
Branch Type to ERRORP
Gosub
If COMEXLØ, then Goto;
If COMEXL1, then Gosub
If COMEXLØ, then Goto;
If COMEXL1, then Gosub
Goto
www.comoso.com
command to end program execution or you can
ERRORP
, put the
command in the startup
ERRORP
" is the number of the error-
n
ERROR.n-1
).
How to Remedy the Error
Issue a GO command.
Change direction & issue GO command; or
issue LHØ.
Change direction & issue GO command; or
issue LSØ.
Check the cause with TASX, remedy the fault
condition, then issue a DRIVE1 command.
ERROR
program is
ERRORP
assignment is
command.
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