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Programming Error Messages (continued)
Error Response
INVALID CONDITIONS FOR COMMAND
INVALID CONDITIONS FOR
S_CURVE ACCELERATION—FIELD n
INVALID DATA
INVALID FOLMAS SPECIFIED
INVALID RATIO
INVALID TASK IDENTIFIER
LABEL ALREADY DEFINED
MASTER SLAVE DISTANCE MISMATCH
MAXIMUM COMMAND LENGTH EXCEEDED
MAXIMUM COUNTS PER SECOND
EXCEEDED
MOTION IN PROGRESS
NEST LEVEL TOO DEEP
12
Gemini GV6K/GT6K Command Reference
Possible Cause
System not ready for command (e.g., LN command issued before the L
command).
Following (these conditions can cause an error during Following):
• The FOLMD value is too small to achieve the preset distance and still
remain within the FOLRN/FOLRD ratio.
• A phase shift cannot be performed:
FSHFD .... Error if already shifting or performing other time based move.
FSHFC .... Error if currently executing a FSHFD move, or if currently
executing another FSHFC move in the opposite direction.
• The FOLEN1 command was given while a profile was suspended by a
GOWHEN.
Average (AA) acceleration or deceleration command (e.g., AA, ADA, HOMAA,
HOMADA, etc.) with a range that violates the equation ½A ≤ AA ≤ A (A is the
max. accel or decel command—e.g., A, AD, HOMA, HOMAD, etc.)
Data for a command is out of range.
Following (these conditions can cause an error during Following):
• The parameter supplied with the command is valid.
Error if: smooth number is not 0-4
FFILT
FMCLEN .. Error if: master steps > 999999999 or negative
FMCP ...... Error if: master steps > 999999999 or < -999999999
FOLMD .... Error if: master steps > 999999999 or negative
FOLRD .... Error if: master steps > 999999999 or negative
FOLRN .... Error if: follower steps > 999999999 or negative
FSHFC .... Error if: number is not 0-3
FSHFD .... Error if: follower steps > 999999999 or < -999999999
GOWHEN .. Error if: position > 999999999 or < -999999999
WAIT ...... Error if: position > 999999999 or < -999999999
• Error if a GO command is given in the preset positioning mode (MCØ) and:
FOLRN = zero
FOLMD = zero, or too small
(see Following chapter in the Programmer's Guide)
Following: An illegal master was specified in FOLMAS. A follower may never
use its own commanded position or feedback source as its master.
Following: Error if the FOLRN:FOLRD ratio after scaling is > 127 when a GO is
executed.
Attempting to launch a PEXE or EXE command into the supervisor task (task 0).
Defining a program or label with an existing program name or label name.
Attempting a preset Following move with a FOLMD value that is too small.
Command exceeds the maximum number of characters.
Velocity value is greater than 1,600,000 counts/sec.
Attempting to execute a command not allowed during motion (see Restricted
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.
IFs, REPEATs, WHILEs, or GOSUBs nested greater than 16 levels
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(for each type).
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