Table of Contents
Advertisement
Identifier Function Description
Kill. Kills motion and halts all command processing (refer to K and KDRIVE command
C
descriptions for further details on the kill function). This is an edge detection function and is not
intended to inhibit motion. To inhibit motion, use the Pause/Resume function (INFNCi-E). When
enabled with the ERROR command, bit #6 of the TER and ER commands will report the kill status.
Stop. Stops motion. If COMEXS is set to zero (COMEXSØ), program execution will be terminated. If
D
COMEXS is set to 1 (COMEXS1), command processing will continue. With COMEXS set to 2
(COMEXS2), program execution is terminated, but the INSELP value is retained. Motion
deceleration during the stop is controlled by the AD & ADA commands. If error bit #8 is enabled
(e.g., ERROR.8-1), activating a Stop input will set the error bit and cause a branch to the ERRORP
program. Activating a Stop input does not return a prompt to the terminal.
Pause/Continue. If COMEXR is disabled (COMEXRØ), then only command execution pauses, not
E
motion. With COMEXR enabled (COMEXR1), both command and motion execution are paused.
After motion stops, you can release the input or issue a continue (!C) command to resume
command processing (and motion in COMEXR1 mode).
User Fault. Refer to the ERROR command. If error bit #7 is enabled (e.g., ERROR.7-1),
F
activating a User Fault input will set the error bit and cause a branch to the ERRORP program.
CAUTION: Activating the user fault input sends a !K command to the drive, "killing" motion (refer
to the K command description for ramifications).
Reserved
G
Trigger Interrupt - This function can only be assigned to the general-purpose inputs on the
H
connector, as specified below:
DRIVE I/O
Input # Pin #
1
2
3
4
5
A "Trigger Interrupt" input can be used for these purposes:
• Position Capture. You can assign up to two trigger inputs, referred to as "TRIG-A" and "TRIG-
B. If assigned, TRIG-A must be on onboard input #1 (pin 37). TRIG-B must be on onboard
input #2 (pin 38). These inputs are located on the 25-pin DRIVE I/O connector. To assign
TRIG-A and TRIG-B, use the INFNC1-H and INFNC2-H commands, respectively.
When assigned the Trigger Interrupt function, activating the input performs a hardware capture
of axis position. If the axis is used as a follower in Following, activating the trigger also
performs an interpolated capture of the associated master axis position.
You can assign an additional "Master Trigger", referred to as "TRIG-M". If assigned, TRIG-M
must be on onboard input #5 (pin 35). TRIG-M may be used to perform a hardware capture of
the "MASTER ENCODER" (the encoder connected to the "Master Encoder" connector), as
well as axis position (encoder position on servo axes; commanded or encoder position for
steppers, depending on the ENCCNT setting). To assign trigger interrupt input TRIG-M to input
#5, use the INFNC5-H command.
When a Trigger Interrupt input is activated, the drive captures the relevant positions and stores
them in registers that are available at the next system update (2 ms) through the use of these
transfer and assignment/comparison commands:
Captured Information
Commanded position
Encoder position
Master encoder position
Master cycle position
164
Gemini GV6K/GT6K Command Reference
GT6K & GV6K Function ( INFNC default )
37
INFNC1-A (General-purpose. If assigned, TRG-A must be on Input #1)
38
INFNC2-A (General-purpose. If assigned, TRG-B must be on Input #2)
39
INFNC3-A (General-purpose)
34
INFNC4-A (General-purpose)
35
INFNC5-A (General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
Transfer
Assignment/Comparison
TPCC
PCC
TPCE
PCE
TPCME
PCME
TPCMS
PCMS
*
Captured values are offset by any existing PSET or PMESET offset.
** If scaling is enabled, the captured position is scaled by SCLD or SCLMAS.
More about Trigger Interrupt function on next page ...
www.comoso.com
Offset *
Scale Factor **
PSET
SCLD
PSET
PESET
SCLD
or
PMESET
SCLMAS
PSET
SCLMAS
Advertisement
Table of Contents
