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Command
Description
Compiled Output (Compiled Motion)
POUTA
Run a Compiled Profile
PRUN
Pause Program Execution
PS
Establish Absolute Position Reference
PSET
Net Position Shift Status [operator]
[ PSHF ]
Commanded Follower Position [operator]
[ PSLV ]
Un-Compile a Compiled Profile
PUCOMP
Specify Units in Radians or Degrees
RADIAN
Enable Registration
RE
Read a Value
[ READ ]
Registration Distance
REG
Registration Lockout Distance
REGLOD
Registration Single-Shot
REGSS
REPEAT Statement
REPEAT
Reset the Gem6K Drive
RESET
Return to Factory Settings
RFS
Begin Executing a Program
RUN
Stop Motion
S
Controller Status [operator]
[ SC ]
Enable Scaling Factors
SCALE
PLC Scan Runtime [operator]
[ SCAN ]
Scan a Compiled PLC Program
SCANP
Acceleration Scale Factor
SCLA
Distance Scale Factor
SCLD
Master Axis Scale Factor
SCLMAS
Velocity Scale Factor
SCLV
Number of Free Segment Buffers
[ SEG ]
Select Servo Feedback Source
SFB
Gain – Acceleration Feedforward
SGAF
Enable a Servo Gain Set
SGENB
Integrator Enable
SGINTE
Current Damping Ratio
SGIRAT
Position Damping Ratio
SGPRAT
Velocity/Position Bandwidth Ratio
SGPSIG
Save a Servo Gain Set
SGSET
Gain – Velocity Feedforward
SGVF
Velocity Damping Ratio
SGVRAT
Hall Sensor Inversion
SHALL
Sine [operator]
[ SIN() ]
Virtual Master Sine Wave Amplitude
SINAMP
Virtual Master Sine Wave Angle
SINANG
Virtual Master - Start Internal Sine Wave
SINGO
Maximum Allowable Position Error
SMPER
Maximum Allowable Velocity Error
SMVER
Square Root [operator]
[ SQRT ]
Resolver Offset Angle
SRSET
System Status [operator]
[ SS ]
Start-up Program
STARTP
Enable Single Step Mode
STEP
Target Zone Distance
STRGTD
Enable Target Zone Mode
STRGTE
Target Zone Timeout Period
STRGTT
Target Zone Velocity
STRGTV
Task Swap Assignment [operator]
[ SWAP ]
Time Delay
T
Transfer Commanded Acceleration
TACC
Tangent [operator]
[ TAN() ]
Transfer ANI Analog Input Voltage
TANI
Transfer Analog Output Voltage
TANO
Transfer Axis Status
TAS
346
Gemini GV6K/GT6K Command Reference
Command
TASF
[ TASK ]
TASX
TASXF
TCMDER
TCS
TDHRS
TDICNT
TDIMAX
TDIR
TDPTR
TDTEMP
TDVBUS
TER
TERF
TERRLG
TEX
TFB
TFS
TFSF
TGAIN
THALL
[ TIM ]
TIMINT
TIMST
TIMSTP
[operator]
TIN
TINO
TINOF
TIO
TLABEL
TLIM
TMEM
TMTEMP
TNMCY
TNT
TNTMAC
TNTS
TNTSF
TOUT
TPC
TPCC
TPCE
TPCME
TPCMS
TPE
TPER
TPMAS
TPME
TPRA
TPROG
TPSHF
TPSLV
TRACE
TRACEP
TRANS
TREV
TRGFN
TRGLOT
[ TRIG ]
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Description
Transfer Axis Status (full-text report)
Task Number Assignment [operator]
Transfer Axis Status, Extended
Transfer Axis Status, Extended (full-text)
Transfer Command Error
Transfer Configuration Status
Transfer Operating Hours
Transfer Continuous Current Rating
Transfer Maximum Current Rating
Transfer Program Directory
Transfer Data Pointer Status
Transfer Drive Temperature
Transfer Bus Voltage
Transfer Error Status
Transfer Error Status (full-text report)
Transfer Error Log
Transfer Program Execution Status
Transfer Position of Feedback Devices
Transfer Following Status
Transfer Following Status (full-test report)
Transfer Servo Gains
Transfer Hall Sensor Values
Current Timer Value [operator]
Timer Value to Cause an Alarm Event
Start Timer
Stop Timer
Transfer Programmable Input Status
Transfer Other Input Status
Transfer Other Input Status (full-text report)
Transfer Expansion I/O Status
Transfer Labels
Transfer Hardware Limit Status
Transfer Memory Usage
Transfer Motor Temperature
Transfer Master Cycle Number
Transfer Ethernet Status
Transfer Ethernet Address
Transfer Network Status
Transfer Network Status (full-text report)
Transfer Programmable Output Status
Transfer Commanded Position
Transfer Captured Commanded Position
Transfer Position of Captured Encoder
Transfer Position
of Captured Master Encoder
Transfer Position of Captured Master Cycle
Transfer Position of Encoder
Transfer Position Error
Transfer Position of Master (current cycle)
Transfer Position of Master Encoder
Transfer Absolute Resolver Position
Transfer Program Contents
Transfer Net Position Shift
Transfer Commanded Position of Follower
Enable Program Trace Mode
Enable Program Flow Mode
Enable Translation Mode
Transfer Revision Level
Trigger Functions
Trigger Interrupt Lockout Time
Trigger Interrupt Status [operator]
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