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• If one task attempts to lock a resource in a different task (e.g., if Task1 attempts to execute the
2%LOCK1,1 command), the drive will respond with an error message ("ALTERNATE TASK NOT
ALLOWED").
• If task "A" attempts to lock a resource that is already locked to task "B", command processing in
task "A" will pause on the LOCK command, and SS bit 26 or 27 will be set ("SUSPENDED ON
COMn"). When task "B" unlocks the resource, task "A" will be able to lock the resource and
continue processing.
• If task "A" attempts to lock task swapping while any other task has locked a resource, command
processing in task "A" will pause on the LOCK command, and SS bit 24 will be set ("SUSPENDED
ON SWAP"). When all other tasks release locks on all other resources (COM1, COM2), task "A"
will be able to lock task swapping and continue processing.
• A resource may be locked by a task only while that task is executing a program. If program
execution is terminated for any reason (e.g., stop, kill, limit, fault, or just reaching the END of a
program), all resources locked by that task will become unlocked.
Example:
LOCK1,1
; Ensure exclusive COM1 access for the task executing
; this program
WRITE"travel is" ; First part of output string
WRVAR1
; Numeric value of travel
WRITE"inches."
; Finish complete string
LOCK1,0
; Allow other tasks access to COM1
LS
Soft Limit Enable
Type
Limit (End-of-Travel)
Syntax
<a_><!>LS<i>
Units
n/a
Range
i = 0 (disable both), 1 (disable positive-direction),
2 (disable negative-direction) or 3 (enable both)
Default
0
Response
LS:
*LS0
See Also
[ AS ], [ ER ], LH, LSAD, LSADA, LSNEG, LSPOS, PSET, TAS, TER,
TSTAT
The
command determines the status of the programmable soft move distance limits. With soft limits
LS
disabled, motion will not be restricted. After a soft limit absolute position has been programmed (
and
), and the soft limit is enabled (
LSNEG
soft limit absolute position. The rate at which motion is decelerated to a stop upon reaching a soft limit is
determined by the
and
LSAD
Disable negative- and positive-direction soft limits
Enable negative-direction, disable positive-direction soft limit
Enable positive-direction, disable negative-direction soft limit
Enable negative- and positive-direction soft limits
The Gem6K drive maintains an absolute count, even though you may be programming in the
NOTE:
incremental mode (
mode (
). The soft limit position references the commanded position (
MC1
measured by a feedback device, such as an encoder (
If a soft limit is encountered while limits are enabled, motion must occur in the opposite direction
before a move in the original direction is allowed. You cannot use the PSET command to clear the
soft limit condition. If limits are disabled, you are free to make a move in either direction.
NOTES
), a move will be restricted upon reaching the programmed
LS
commands.
LSADA
). The soft limits will also function in preset mode (
MAØ
NOTE
www.comoso.com
Product
GT6K
GV6K
i = 0
i = 1
i = 2
i = 3
) or continuous
MCØ
), not the position as
TPC
).
TPE
Command Descriptions
Rev
6.0
6.0
LSPOS
197
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