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displaying 321
gain set, display 346
gain set, enabling 285
gain set, saving 288
integrator enable (SGINTE) 286
load damping (LDAMP) 205
load-to-force mass ratio (LJRAT)
214
load-to-rotor inertia ratio
(LJRAT) 214
notch filter A depth (DNOTAD)
102
notch filter A frequency
(DNOTAF) 103
notch filter A quality factor
(DNOTAQ) 104
notch filter B depth (DNOTBD)
104
notch filter B frequency
(DNOTBF) 104
notch filter B quality factor
(DNOTBQ) 105
notch lag filter break freq
(DNOTLG) 106
notch lead filter break freq
(DNOTLD) 105
position damping ratio
(SGPRAT) 287
position loop bandwidth (DPBW)
106
torque/force limit (DMTLIM) 94
velocity damping ratio
(SGVRAT) 289
velocity feedforward 288
velocity limit (DMVLIM) 101
velocity/position bandwidth ratio
(SGPSIG) 287
geared advance 139
global command identifier (@) 5, 29
GO 156
compiled (GOBUF) 157
GOBUF, compiled motion segments
157
good prompt (ERROK) 129
gosub
branch to error program 129
on input condition 230
on user status condition 231
on VAR1 condition 232
on VAR2 condition 232
GOSUB 158
goto 159
branch to error program 129
GOWHEN 160
error condition 123
check 130, 131
via trigger input 342
greater than (>) 34
greater than or equal (>=) 34
H
hall sensor
check sensor values (THALL)
321
inversion (SHALL) 289
halt
stop error program 131
HALT 163
hard limit
active level (LIMLVL) 214
354
Gemini GV6K/GT6K Command Reference
deceleration (LHAD) 208
enable (LH) 207
s-curve deceleration 208
status 209, 327
HELP 164
hexadecimal value identifier (h) 5
homing
acceleration 166
backup enable 168
deceleration 167
final direction 169
home input
active level 214
function assignment (INFNC)
181
function assignment
(LIMFNC) 213
reference edge 169
status 209, 327
initiate (HOM) 164
s-curve accel/decel 167, 168
to encoder Z-channel 171
velocity
final 171
starting 170
zero absolute postion 164
I
IF 50, 172, 225
ELSE 119
immediate commands 28
immediate data read from RP240
111
immediate stop 67, 274
in position 189
inclusive or (|) 39
incremental positioning mode
(MAØ) 219
effect on distance 68
indirect variables 359
inductance, motor 92
maximum 95
minimum 95
initial master cycle position 142
inputs 11
analog See ANI
joystick See joystick
joystick (INFNC functions) 180
joystick (LIMFNC functions) 212
limits
end-of-travel See end-of-travel
home See homing, home input
programmable
active level (INLVL) 183
alarm event 180, 212
bit pattern 11
configuration 325
debounce time 175
enable (INEN) 177
function assignments (INFNC)
178
function assignments
(LIMFNC) 211
simulate activation of 210
jog
negative direction 180, 212
positive direction 180, 212
speed select 180, 212
kill 180, 212
pause/continue 180, 212
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effect on command buffer
65
position capture 180
program select 181, 213
program select, BCD 178, 211
registration 265
status 174, 324
stop 67, 180, 212, 274
strobe time 185
thumbwheel 186, 355
trigger interrupt 180, 245, 246,
247, 248, 332, 333, 334
lockout time 343
user fault 180, 212
trigger See trigger inputs
virtual input override 173
installation
Motion Planner 7
integer variable (VARI) 361
display on RP240 117
writing (WRVARI) 370
integrator, enable 286
interactive data (') 31
interrupt, program 229, 230, 232
IP address 227
J
jerk calculations 21
jerk, reducing 19
jog
acceleration 190
s-curve 190
deceleration 191
s-curve 191
input
negative direction 180, 212
positive direction 180, 212
speed select 180, 212
mode enable (JOG) 189
using RP240 83
velocity
high 192
low 192
joystick
acceleration (JOYA) 195
analog channel high (JOYAXH)
197
center (JOYCTR) 198
center deadband (JOYCDB) 198
deceleration (JOYAD) 196
enable operation (JOY) 193
end deadband (JOYEDB) 199
input functions (INFNC) 180
input functions (LIMFNC) 212
s-curve accel/decel 196, 197
velocity high (JOYVH) 199
velocity low (JOYVL) 200
voltage range 199
zero (JOYZ) 201
jump 160
JUMP 202
K
kill
conditions that will kill a
Following move 145
disable drive 204
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