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TSEG
Transfer Number of Free Segment Buffers
Type
Compiled Motion;
Syntax
<a_><!>TSEG
Units
n/a
Range
n/a
Default
n/a
Response
TSEG:
*TSEG258
See Also
MEMORY, TDIR, TMEM, [SEG], [SS], TSS, TSSF
The
command returns the number of free segment buffers in compiled memory.
TSEG
System status bit (see
,
TSSF
if the compiled memory is 100% full.
TSGSET
Transfer Servo Gain Set
Type
Transfer
Syntax
<a_><!>TSGSETi
Units
i = gain set identification number (see SGSET command)
Range
1-3
Default
n/a
Response
(reports all gains in the specified set)
See Also
SFB, SGAF, SGENB, SGSET, SGVF, TGAIN
This command allows you to display any of the 3 gain sets that you saved with the
3 gain sets can be saved with the
• DIBW (current loop bandwidth)
• DMTLIM (torque/force limit)
• DMVLIM (velocity limit)
• DNOTAD (notch filter A depth)
• DNOTAF (notch filter A frequency)
• DNOTAQ (notch filter A quality factor)
• DNOTBD (notch filter B depth)
• DNOTBF (notch filter B frequency)
• DNOTBQ (notch filter A quality factor)
• DNOTLD (notch lead filter break frequency)
• DNOTLG (notch lag filter break frequency)
NOTE: To report the present gain values in effect, use the
TSKAX
Task Axis
Type
Multi-Tasking
Syntax
i%TSKAX<a>
Units
i = task number
a = 0 or 1
Range
For i: 0-10
For <a>:1 or 0
Default
a = 1
Response
TSKAX:
*TSKAX1
See Also
%,
TTASK, [ TASK ], TSWAP, [ SWAP ], TSKTRN
The Task Axis command (
TSKAX
The default condition in multi-tasking (
example, that when the load hits an end-of travel limit, program execution will be killed within that task,
and in all other tasks associated with motion.
318
Gemini GV6K/GT6K Command Reference
Transfer
, and
) 29 is set when the compiled memory is 75% full, and bit 30 is set
TSS
SS
command. Each gain set contains these gain parameters:
SGSET
• DPBW (position loop bandwidth)
• LDAMP (load damping)
• LJRAT (load-to-rotor inertia ratio or load-to-force mass ratio)
• SGAF (acceleration feedforward gain)
• SGINTE (integrator enable)
• SGIRAT (current damping ratio)
• SGPRAT (position loop ratio)
• SGPSIG (velocity/position bandwidth ratio)
• SGVF (velocity feedforward gain)
• SGVRAT (velocity damping ratio)
) allows you to specify whether or not a task is associated with motion.
) is that each task is associated with motion. This means, for
TSKAX1
www.comoso.com
SGSET
command.
TGAIN
Product
Rev
GT6K
6.0
GV6K
6.0
Product
Rev
GT6K
n/a
GV6K
6.0
(applicable only to
servo axes)
command. Up to
Product
Rev
GT6K
6.0
GV6K
6.0
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