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Identifier Function Description
H (con't.)
Continued from previous page (Trigger Interrupt function):
NOTES ABOUT POSITION CAPTURE:
- Hardware Capture: The encoder position is captured within ± 1 encoder count. The
commanded position capture accuracy is ± 1 count.
- Interpolated Capture: There is a time delay of up to 50 µs between activating the trigger
interrupt input and capturing the position; therefore, the accuracy of the captured position
is equal to 50 µs multiplied by the velocity of the axis at the time the input was activated.
- Servo vs. Stepper. The nature of the axis position captured with a Trigger Interrupt input
may be different, depending on whether the drive is a servo (GV6K) or stepper GT6K. For
servo axes, both the commanded and encoder position for the axis are captured. For
stepper axes, if the ENCCNT command is set to ENCCNT0 (default condition), only the
commanded position is captured. If ENCCNT1 mode is enabled, only the encoder position
is captured.
• Registration. (see RE description for details)
• Special trigger functions defined with the TRGFN command (see TRGFN for details).
NOTES ABOUT TRIGGER INTERRUPT INPUTS:
- When an input is assigned the "Trigger Interrupt" function, the debounce is governed by the
TRGLOT command setting (default is 24 ms). The TRGLOT setting overrides the existing
INDEB setting for only the inputs that are assigned the "Trigger Interrupt" function.
- When an input is assigned the "Trigger Interrupt" function, the input cannot be affected by
the input enable (INEN) command.
- Trigger Interrupt Status: Use the TTRIG and TRIG commands to ascertain if a trigger
interrupt input has been activated. TTRIG displays the status as a binary report, and TRIG is
an assignment/comparison operator for using the status information in a conditional
expression (e.g., in an IF statement). The TTRIG/TRIG bits are cleared when the respective
captured position is read (see table above).
Alarm Event - Will cause the Gem6K drive to set an Alarm Event in the Communications Server
I
over the Ethernet interface. You must first enable the Alarm checking bit for this input-driven
alarm (INTHW.23-1). For details on using alarms, refer to the Programmer's Guide.
JOG positive-direction - Will jog the axis in a positive direction. The JOG command must be
J
enabled for this function to work.
JOG negative-direction. Will jog the axis in a negative direction. The JOG command must be
K
enabled for this function to work.
JOG Speed Select. Selects the high or low velocity range while jogging. If the input is active, the
L
high jog velocity range will be selected.
Joystick Release. Signals the drive to end joystick operation and resume program execution
M
with the next statement in your program. When the input is open (high), the joystick mode is
disabled (joystick mode can be enabled only if the input is closed, and only with the JOY
command). When the input is closed (low), joystick mode can be enabled with the JOY command.
The process of using Joystick mode is:
1. Assign the "Joystick Release" input function to a programmable input.
2. At the appropriate place in the program, enable joystick control of motion (with the JOY
command). (Joystick mode cannot be enabled unless the "Joystick Release" input is closed.)
When the JOY command enables joystick mode, program execution stops (assuming the
Continuous Command Execution Mode is disabled with the COMEXCØ command).
3. Use the joystick to move the axis as required.
4. When you are finished using the joystick, open the "Joystick Release" input to disable the
joystick mode. This allows program execution to resume with the next statement after the initial
JOY command that started the joystick mode.
Reserved
N
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Command Descriptions
165
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