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KDRIVE
Disable Drive on Kill
Type
Drive Configuration
Syntax
<a_><!>KDRIVE<b>
Units
b = enable bit
Range
0 (disable) or 1 (enable)
Default
0
Response
KDRIVE:
*KDRIVE0
See Also
DRIVE, INFNC, K, <ctrl>K
If you enable the Disable Drive on Kill function (
) is processed or a kill input (
<ctrl>K
CAUTION: This cuts all control to the motor and allows the load to freewheel to a stop.
To re-enable the drive, issue the
If you leave the
command in its default state (
KDRIVE
manner, leaving the drive enabled.
Example:
KDRIVE1
; Disable the drive when a kill occurs
K
; Kill is performed and drive is disabled
KIOEN
Kill on EVM32 Disconnect
Type
Drive Configuration; Inputs; Outputs
Syntax
<a_><!>KIOEN<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
KIOEN:
*KIOEN0
See Also
ERROR, TER, TIO
The
command allows you to control the functionality of the Gem6K when an EVM32 I/O failure
KIOEN
has been detected (cause could be cable disconnection, or loss of power on the EVM32 I/O brick). The
options are as follows:
•
(factory default): The Gem6K will not perform a kill. (SEE WARNING NOTE BELOW)
KIOEN0
•
: The Gem6K will perform a kill (all motion and program execution on all tasks) if an
KIOEN1
EVM32 I/O failure is detected.
Regardless of the state of the
program to respond to an EVM32 I/O failure. Note that when operating in the
default), the branch to the error program is a GOSUB, but in
factory default
If you use the
EVM32 I/O failure occurs, the state of any external conditions becomes unknown to the Gem6K drive. For
example, if an input on brick 2 is defined as a hardware end-of-travel limit, and if brick 2 loses power or is
disconnected from the Gem6K, the Gem6K will never see a state change on the limit.
The KIOEN0 mode is designed for use during system setup (for example, if you will be connecting and
disconnecting I/O bricks in the process of wiring and programming your system).
Therefore, to help prevent damage to equipment and serious injury to personnel, we recommend enabling
this feature (KIOEN1) during normal operation of your motion control system.
186
Gemini GV6K/GT6K Command Reference
KDRIVE1
) is activated, the drive will be disabled immediately.
INFNCi-C
command.
DRIVE1
, disabled), the kill function behaves in its normal
Ø
command, you can enable error bit 18 (
KIOEN
WARNING
KIOEN0 mode (no kill if EVM32 I/O failure), bear in mind that when an
www.comoso.com
), then when a kill command (
ERROR.18-1
mode (factory
KIOEN0
mode the branch is a GOTO.
KIOEN1
Product
Rev
GT6K
6.0
GV6K
6.0
,
, or
K
!K
Product
Rev
GT6K
6.0
GV6K
6.0
) and use an error
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