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C
call a subroutine (GOSUB) 158
carriage return
command delimiter 5
transmission character 121
case sensitivity 5
characters
command delimiters 5
comment delimiter 5, 29
field separators 5
limit per line 5
neutral (spaces) 5
clear display (DCLEAR) 77
clear error condition 131
clear variables (VARCLR) 360
clearing latched register bits 77
COM port
enable/disable (E) 118
function, setup 114
lock to a task 215
selection (PORT) 258
COMM6SRVR 7
commanded acceleration (TACC)
300
commanded acceleration,
feedforward gain 285
commanded position 251, 336
capture 180, 245, 332
comparison or assignment 244
display 331
follower
assignment/comparison 263
transfer 339
commands
buffered 28
looping 215
looping, compiled 254, 255
command buffer execution
after end-of-travel limit
(COMEXL) 65
after pause/continue input
(COMEXR) 65
after stop (COMEXS) 67
continuous (COMEXC) 63
command description format 3
command field symbols 4
command list 373
command value substitutions 6
command-to-product
compatibility 3
default settings 3
delimiters 5
immediate 28
syntax 3
comment delimiter 5, 29
communication interface
addressing units in a chain 49
baud rate 58
BOT characters 59
COM port selection (PORT) 258
controlling multiple COM ports
258
send response to alternate port
43
send response to both ports 42
echo enable 118
enable communication (E) 118
end-of-transmission characters
121
error prompt definition 126
Ethernet
352
Gemini GV6K/GT6K Command Reference
enable communication 227
Ethernet address 330
IP address 227
network mask 228
good prompt definition 129
lock COM port 215
program definition prompt 126
RP240 check 114
XON/XOFF, enable & disable
371
communications server 186, 187
compiled motion See PLC program
compiling (PCOMP) 249
execute from PLC program
(PEXE) 252
failed PCOMP 295, 348
final velocity 365
GOBUF segments 157
looping 254, 255
memory status 295, 348
outputs (POUTA) 258
run the profile (PRUN) 260
status of program storage 312
status, free segments 284, 346
uncompile the profile (PUCOMP)
264
compiling a profile or program
(PCOMP) 249
conditional branching
ELSE 119
IF 172
NIF 225
NWHILE 228
REPEAT 271
UNTIL 356
WHILE 368
conditional go 160
configuration
using a setup program 296
wizard in Motion Planner 8
configuration error, motor 97
status 310
configuration wizard
Motion Planner 8
continue (!C) 59, 61, 67, 205
continuous command execution
mode (COMEXC) 63
continuous current derating, motor
91
continuous current, motor 91
continuous positioning mode (MC1)
220
continuous shift See shift,
continuous
control characters 369
controlling multiple serial ports
select target port (PORT) 258
send response to alternate port 43
send response to both ports 42
cosine 68, 264
current damping ratio 287
current foldback, enable/disable 81
current loop bandwidth 80
current loop gain 82
current offset, phase A 108
current offset, phase B 108
current reduction at rest 77
D
damping
www.comoso.com
servo
current 287
load 205
motor 90
position 287
velocity 289
stepper
ABS 70
active damping 71
during acceleration 78
electronic viscosity 80
data
assignment (DAT) 71
fields, in command syntax 4
program (DATP) 71, 72
program size (DATSIZ) 74
read from the RP240 111
statement (DATA) 72
memory required 222
storage 72, 73, 74, 313
teach 76
transfer 242, 243
deadband
joystick center 198
joystick end 199
stall 135
debounce time for programmable
inputs 175
debounce time for trigger interrupt
inputs 343
debugging tools See Programmer's
Guide
axis status (extended) report 305
axis status report 302
break point 59
break, manual 60
configuration status report 310
ENABLE status 325
error log 317
error messages 14
HALT 163
identify bad command 18, 309
single-step mode 30, 296
technical support 164
trace mode 339, 340
translation mode 340
deceleration 47
assignment/comparison 48
change on-the-fly 63
limits
hard 208
soft 217
scaling 23
s-curve profiling 19, 49
hard limits 208
homing 168
jogging 191
joystick 197
soft limits 217
default command settings 3
restore (RFS) 272
define
program/subroutine (DEF) 78
user status 176
degrees, unit of measure 264
delay time (T command) 300
delay, brake output (OUTBD) 238
delete a program/subroutine (DEL)
79
delimiter, comment 5, 29
delimiters, command 5
direction
"positive" vs "negative" 69
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