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Identifying Bad Commands
To facilitate program debugging, the Transfer Command Error (
the first command that the controller detects as an error. This is especially useful if you receive an error
message when running or downloading a program, because it catches and remembers the command that
caused the error.
Using Motion Planner: If you are typing the command in a live terminal emulator session, the controller
will detect the bad command and respond with an error message, followed by the
prompt (
). If the bad command was detected on download, the bad command is reported
?
automatically (see example below).
NOTE: If you are not using Motion Planner, you'll have to type in the
prompt to display the bad command.
Once a command error has occurred, the command and its fields are stored and system status bit #11
(reported in the
,
and
TSSF
TSS
command is issued.
Example Error Scenario:
1. In Motion Planner's program editor, create and save a program with a programming error:
DEL badprg
; Delete a program before defining and downloading
DEF badprg
; Begin definition of program called badprg
MA1
; Select the absolute preset positioning mode
A25
; Set acceleration
AD11
; Set deceleration
V5
; Set velocity
VAR1=0
; Set variable #1 equal to zero
GO1
; Initiate move
IF(VAR1<)16
; MISTYPED IF STATEMENT - should be typed as "IF(VAR1<16)"
VAR1=VAR1+1
; If variable #1 is less than 16, increment the counter by 1
NIF
; End IF statement
END
; End programming of program called badprg
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 "
> *NO ERRORS
*INCORRECT DATA
> *IF(VAR1<)16
14
Gemini GV6K/GT6K Command Reference
commands) is set to
. The status bit remains set until the
SS
1
www.comoso.com
) command allows you to transfer
TCMDER
command at the error
TCMDER
" item and displays it:
INCORRECT DATA
error
ERRBAD
TCMDER
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