Table of Contents
Advertisement
• Registration Lockout Distance: The
before any input assigned as a registration input will be recognized. Refer to the
command description for further details and an application example.
Registration Move Status & Error Handling
Axis Status — Bit #28: This status bit is set when a registration move has been initiated by the
registration input. This status bit is cleared with the next
...... Assignment & comparison operator — use in a conditional expression
AS.28
WAIT(AS.28=b1)).
........ Full text description of each status bit. (see "
TASF
.......... Binary report of each status bit (bits 1-32 from left to right). See bit #28.
TAS
Axis Status — Bit #30: If, when the registration input is activated, the registration move profile
cannot be performed with the specified motion parameters, the Gem6K drive will kill the move in
progress and set axis status bit #30. This status bit is cleared with the next
...... Assignment & comparison operator — use in a conditional expression.
AS.30
........ Full text description of each status bit. (see "
TASF
.......... Binary report of each status bit (bits 1-32 from left to right). See bit #30.
TAS
Input Status — Bits #1-5: Check the status of the assigned input to ascertain if it has been activated.
The status reports the present state of the input.
........
IN.n
Comparison operand for IF and WAIT conditional expressions (e.g., IF(IN.2=b1)).
.......... Binary report of each status bit (bits 1-5 from left to right).
TIN
Error Status — Bit #10: This status bit may be set if axis status bit #30 is set. The error status is
monitored and reported only if you enable error-checking bit #10 with the
). NOTE: When the error occurs, the Gem6K will branch to the error program (assigned
ERROR.10-1
with the
command). This status bit is cleared with the next
ERRORP
...... Assignment & comparison operator — use in a conditional expression
ER.10
(e.g., IF(ER.10=b1)).
........ Full text description of each status bit. (see "
TERF
.......... Binary report of each status bit (bits 1-32 from left to right). See bit #10.
TER
Trigger Status — Bits #1-5: Trigger status bits are set when a registration move has been initiated by
trigger inputs A or B. This also indicates that the position has been captured. As soon as the captured
information is transferred or assigned/compared, the respective trigger status bit is cleared (set to
........ Assignment & comparison operator — use in a conditional expression.
TRIG
...... Binary report of each status bit (bits 1-5). From left to right the bits represent trigger A
TTRIG
and B (the 5
not be used for registration) — see page 8.
Example:
In this example, two-tiered registration is achieved. While the axis is executing its 50,000-unit move, Trigger A is
activated and executes registration move A to slow the load's movement. An open container of volatile liquid is then
placed on the conveyor belt. After picking up the liquid and while registration move A is still in progress, Trigger B is
activated and executes registration move B to slow the load to a gentle stop.
DEL REGI1
; Delete program (assume program already resides in memory)
DEF REGI1
; Begin program definition
INFNC1-H
; Define input 1 as trigger A
INFNC2-H
; Define input 2 as trigger B
A20
; Set acceleration on to 20 units/sec/sec
AD40
; Set deceleration on to 40 units/sec/sec
V1
; Set velocity to 1 unit/sec
REGA4000
; Set trigger A's registration distance to 4000 units
; (registration A move will use the A, AD, & V values above)
A5
; Set acceleration to 5 units/sec/sec
AD2
; Set deceleration to 2 units/sec/sec
V.5
; Set velocity to 0.5 units/sec
REGB13000
; Set trigger B's registration distance to 13,000 units
; (registration B move will use the A, AD, & V values above)
244
Gemini GV6K/GT6K Command Reference
command specifies what distance an axis must travel
REGLOD
th
bit is master trigger M, the "
www.comoso.com
REGLOD
command.
GO
" line item)
Reg Move Commanded
command.
GO
Preset Move Overshot
command (e.g.,
ERROR
command.
GO
" line item)
Profile Impossible
" input terminal, which may
MASTER TRIG
(e.g.,
" line item)
).
Ø
Advertisement
Table of Contents
