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understand how to address the outputs (onboard and on optional expansion I/O bricks) available on the
Gem6K.
POUTA<b><b><b><b><b><b><b>
NOTE: You may use
POUTA
command. If you attempt to change the state of an output that is not defined as a general-purpose
OUTFNCi-A
output, the drive will respond with an error message ("
command will not be executed (but command processing will continue).
If you wish to set only one output value, instead of all outputs, use the bit select (.) operator, followed by the
number of the specific output. For example,
The
command consumes one segment of compiled memory.
POUTA
The programmable outputs are sampled once per "system update" (2 ms).
Example:
OUTFNC3-A
; Default output function for onboard output 3
OUTFNC6-A
; Default output function for onboard output 6
DEF P1
; Define program P1
D1000
; Set distance to travel
GOBUF1
; Motion segment
POUTA.3-1
; Turn on output 3 when the axis travels 1000 counts
D2000
; New distance commanded
GOBUF1
; Motion segment
POUTA.3-0
; When the axis travels 2000 additional counts,
POUTA.6-1
; turn off output 3 and turn on output 6
D1000
; New distance commanded
GOBUF1
; Motion segment
POUTA.6-0
; Turn off output 6 when the axis travels 1000 additional counts
END
; End program definition
PCOMP P1
; Compiled program P1
PRUN P1
; Execute program P1
When executing a Compiled Following profile, the
Therefore, in order to make sure an output is on for a given motion segment no matter what direction the
master is traveling, you should use two
POUTA.3-0
; Turn off onboard output 3 - master going backwards
POUTA.3-1
; Turn on onboard output 3 - master going forwards
GOBUF1
; Motion segments for axis 1
POUTA.3-1
; Turn on onboard output 3 for axis 1 - master going backwards
POUTA.3-0
; Turn off onboard output 3 for axis 1 - master going forwards
If you desire to "pulse" an output (turn on for a given amount of time), then use the
with the
command. For example:
GOWHEN(T=n)
POUTA.3-1
; Turn on output 3
GOWHEN(T=120)
; Wait for 120 milliseconds
POUTA.3-0
; Turn off output 3
238
Gemini GV6K/GT6K Command Reference
Output # Pin #
1
41
2
43
3
45
4
46
5
48
6
49
7
Relay OUTFNC7-F (Fault)
to control only the outputs defined as "general-purpose" outputs with the
OUTPUT BIT USED AS OUTFNC
2POUTA.12-1
POUTA
statements (see example below).
POUTA
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GT6K & GV6K Function ( OUTFNC default )
OUTFNC1-A (General-purpose)
OUTFNC2-A (General-purpose)
OUTFNC3-A (General-purpose)
OUTFNC4-A (General-purpose)
OUTFNC5-A (General-purpose)
OUTFNC6-A (General-purpose)
turns on only output 12 on I/O brick 2.
statement is always executed as programmed.
POUTA
") and the
POUTA
command along
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