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General-purpose inputs on the
Input # Pin #
1
37
2
38
3
39
4
34
5
35
About Position Capture: The master cycle position can be captured only by a trigger input that is defined as
"trigger interrupt" input with the
input is activated, the master cycle position of the dedicated axis is captured and the position is available
through the use of the
PCMS
Position Capture Status, Longevity of Captured Position: Use the
ascertain if a trigger interrupt input has been activated.
is an assignment/comparison operator for using the status information in a conditional expression
TRIG
(e.g., in an
statement). Once the captured master cycle position value is reported with the
IF
command, the
/
status bit for that trigger input is cleared; but the position information remains
TTRIG
TRIG
available until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy: The master cycle position is interpolated; the capture accuracy is 50 µs
multiplied by the velocity of the axis at the time the trigger input was activated.
Scaling and Position Offset: If scaling is enabled (
distance scaling factor (
SCLMAS
counts from the commanded or encoder master source as selected with the
a
(establish absolute position reference) command, any previously captured master cycle positions
PSET
will be offset by the
command value.
PSET
TPE
Transfer Position of Encoder/Resolver
Type
Transfer
Syntax
<a_><!>TPE
Units
Encoder or resolver counts, or scaled by SCLD
Range
n/a
Default
n/a
Response
TPE:
*TPE+0
See Also
ENCCNT, ERES, [ FB ], [ PE ], PESET, PSET, SCALE, SCLD, SFB,
TFB, TPC, TPER
GV6K: The
command reports the present feedback device position, based on the encoder/resolver
TPE
resolution (ERES).
GT6K: If the
ENCCNT1 mode is enabled TPE
report represents the commanded position.
default setting) the TPE
UNITS OF MEASURE and SCALING: refer to page
If you issue a
command, the encoder position value will be offset by the
PSET
are using a stepper axis in the
The position error calculation is:
308
Gemini GV6K/GT6K Command Reference
connector:
DRIVE I/O
GT6K & GV6K Function ( INFNC default )
INFNC1-A (General-purpose. If assigned, TRG-A must be on Input #1)
INFNC2-A (General-purpose. If assigned, TRG-B must be on Input #2)
INFNC3-A (General-purpose)
INFNC4-A (General-purpose)
INFNC5-A (General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
command (see
INFNCi-H
operator and the
display command.
TPCMS
TTRIG
SCALE1
). If scaling is not enabled (
reports the encoder position, but in
mode, use the
ENCCNT1
PESET
.
TPER = TPC – TPE
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command). When a "trigger interrupt"
INFNC
and
commands to
TTRIG
TRIG
displays the status as a binary report, and
), the master cycle position is scaled by the
), the value assigned will be actual
SCALEØ
command. If you issue
FOLMAS
ENCCNT0 mode (the factory
16
or to the
command.
SCLD
command value. If you
PSET
command instead.
TPCMS
Product
Rev
GT6K
6.0
GV6K
6.0
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