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5
Commanded Stop or Kill
(whenever a K, !K, <ctrl>K, S,
or !S command is sent)
— See "Commanded Kill or
Stop" note below.
6
Kill Input Activated
(see INFNCi-C)
7
User Fault Input Activated
(see INFNCi-F)
8
Stop Input Activated
(see INFNCi-D)
9
Enable input not grounded
10
Pre-emptive (on-the-fly) GO or
registration move profile not
possible at the time of attempted
execution.
11
GV6K Only:
Target Zone Timeout (STRGTT
value has been exceeded).
12
GV6K Only:
Exceeded Max. Allowable
Position Error (set with the
SMPER command).
14
GOWHEN condition already true
when GO, FSHFC, or
FSHFD executed.
16
Bad command detected.
18
Expansion I/O brick disconnected,
or lost power. (Multi-tasking: This
condition also kills all tasks.)
23
Ethernet Client connection error.
24
Ethernet Client polling failed.
Reserved Bits: Bits 13, 15, 17, 19-22, and 25-32 are reserved.
Branching Types: If the error condition calls for a GOSUB, then after the ERRORP program is 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 HALT command to end program execution or you can use the
GOTO command to go to a different program. If the error condition calls for a GOTO, there is no way to return
to the point at which the error occurred.
Commanded Kill or Stop: When ERROR bit 5 is enabled (ERROR.5-1), a Stop (S or !S) or a Kill (K, !K or
<ctrl>K) command will cause the Gem6K to branch to the error program. Note, however, that this error
condition does not set an error bit (ER), because there is no way to clear the error condition upon leaving the
error program. Therefore, you should use the IF(ER=b00000000000000000000000000000000)
If !K, then Goto;
If !S & COMEXSØ,
then Goto;
If !S & COMEXS1, then
Gosub, but need !C
Goto
Goto
Goto
Goto
Gosub
Gosub
Gosub
Goto
Gosub
Goto if KIOEN1
Gosub if KIOEN0
Gosub
Gosub
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No fault condition is present—there is no error
to clear
If you want the program to stop, you must
issue the !HALT command.
Deactivate the kill input.
Deactivate the user fault input, or disable it by
assigning it a different INFNC function.
Deactivate the stop input, or disable it by
assigning it a different INFNC function.
Re-ground the enable input, and issue a
DRIVE1 command.
Issue another GO command.
Issue these commands in this order:
STRGTEØ, DØ, GO, STRGTE1
Issue a DRIVE1 command. Verify that
feedback device is working properly.
Issue another GOWHEN command; or issue a
!K command and check the program logic
(use the TRACE and STEP features if
necessary).
Issue the TCMDER command.
Reconnect I/O brick or restore power. Then
issue ERROR.18-0 and then ERROR.18-1.
Clear the error bit (ERROR.23-0), then re-
establish the Ethernet connection, and then
issue ERROR.23-1.
Clear the error bit (ERROR.24-0), then re-
establish the Ethernet connection, and then
issue ERROR.24-1.
Command Descriptions
123
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