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Command
Description
Drive Control Mode
DMODE
Analog Monitor Output A – Scaling
DMONAS
Analog Monitor Output A – Variable
DMONAV
Analog Monitor Output B – Scaling
DMONBS
Analog Monitor Output B – Variable
DMONBV
Motor Ambient Temperature
DMTAMB
Motor Damping
DMTD
Continuous Current
DMTIC
Continuous Current Derating
DMTICD
Motor Inductance
DMTIND
Peak Current
DMTIP
Motor Rotor Inertia / Forcer Mass
DMTJ
Motor Ke
DMTKE
Torque/Force Limit
DMTLIM
Minimum Motor Inductance
DMTLMN
Maximum Motor Inductance
DMTLMX
Maximum Motor Winding Temperature
DMTMAX
Identify (and Load) Motor
DMTR
Motor Winding Resistance
DMTRES
Motor Winding Thermal Resistance
DMTRWC
Torque/Force Scaling
DMTSCL
Motor Static Torque
DMTSTT
Motor Thermal Time Constant
DMTTCM
Motor Winding Time Constant
DMTTCW
Motor Rated Speed
DMTW
Velocity Limit
DMVLIM
Notch Filter A Depth
DNOTAD
Notch Filter A Frequency
DNOTAF
Notch Filter A Quality Factor
DNOTAQ
Notch Filter B Depth
DNOTBD
Notch Filter B Frequency
DNOTBF
Notch Filter B Quality Factor
DNOTBQ
Notch Lead Filter Break Frequency
DNOTLD
Notch Lag Filter Break Frequency
DNOTLG
Change RP240 Password
DPASS
Position Loop Bandwidth
DPBW
Position RP240 Display Cursor
DPCUR
Phase Balance
DPHBAL
Phase A Current Offset
DPHOFA
Phase B Current Offset
DPHOFB
Number of Motor Pole Pairs
DPOLE
Data Pointer Location [operator]
[ DPTR ]
Drive PWM Frequency
DPWM
Read RP240 Numeric Data [operator]
[ DREAD ]
Read RP240 Function Key [operator]
[ DREADF ]
RP240 Data Read, Immediate Mode
DREADI
Drive Resolution
DRES
Drive Reset
DRESET
Drive Enable/Disable
DRIVE
RP240 COM Port Check
DRPCHK
Enable/Disable Drive Stall Detection
DSTALL
Enable/Disable RP240 Stop Key
DSTP
Display Numeric Variable on RP240
DVAR
Display Binary Variable on RP240
DVARB
Display Integer Variable on RP240
DVARI
Waveform
DWAVEF
Write Text to RP240
DWRITE
Enable Serial Communication
E
Enable Communication Echo
ECHO
Else Condition of IF Statement
ELSE
344
Gemini GV6K/GT6K Command Reference
Command
Description
Encoder Count Reference Enable
ENCCNT
End Definition of Program
END
End-of-Line Termination Characters
EOL
End-of-Transmission Characters
EOT
Error Status [operator]
[ ER ]
Erase All Programs
ERASE
Encoder Resolution
ERES
Error Prompt Characters
ERRBAD
Program Definition Prompt Characters
ERRDEF
Error Detection Level
ERRLVL
Good Prompt Characters
ERROK
Enable Error Checking
ERROR
Error Log Selection
ERRORL
Assign an Error Program
ERRORP
Stall Backlash Deadband
ESDB
Kill on Stall
ESK
Enable Encoder Stall Detection
ESTALL
Execute Program from a Compiled Program
EXE
Value of Feedback Device [operator]
[ FB ]
Following Filter
FFILT
Following Geared Advance
FGADV
Fault on Drive Disable (DRIVE0)
FLTDSB
Follower Axis Maximum Acceleration
FMAXA
Follower Axis Maximum Velocity
FMAXV
Master Cycle Length
FMCLEN
Restart Master Cycle Counting
FMCNEW
Initial Master Cycle Position
FMCP
Enable Following Mode
FOLEN
Following Kill, Limitations
FOLK
Assignment of Master to Follower
FOLMAS
Master Distance
FOLMD
Denominator of Follower-to-Master Ratio
FOLRD
Numerator of Follower-to-Master Ratio
FOLRN
Numerator of Final Follower-to-Master Ratio
FOLRNF
Enable Master Position Prediction
FPPEN
Following Status [operator]
[ FS ]
Continuous Shift
FSHFC
Preset Shift
FSHFD
Virtual Master Count Acceleration
FVMACC
Virtual Master Count Frequency
FVMFRQ
Initiate Motion
GO
Store a Compiled Motion Segment
GOBUF
Call a Subroutine
GOSUB
Go To a Program or Label
GOTO
Conditional Go
GOWHEN
Terminate Program Execution
HALT
Technical Support Phone Numbers
HELP
Initiate Homing Operation
HOM
Homing Acceleration
HOMA
Homing Acceleration, S-curve
HOMAA
Homing Deceleration
HOMAD
Homing Deceleration, S-curve
HOMADA
Backup to Home
HOMBAC
Homing Final Direction
HOMDF
Home Reference Edge
HOMEDG
Homing Velocity
HOMV
Homing Velocity, Final Approach
HOMVF
Home to Encoder Z Channel
HOMZ
IF Statement
IF()
Virtual Input Override
IN
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