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on-the-fly FOLRD & FOLRN
changes 63, 149
on-the-fly MA & MC changes 220
on-the-fly motion MA & MC
changes 63
on-the-fly profile change not
possible 303
on-the-fly V, A & AD changes 63,
220
operating hours, report 311
operating modes, drive (DMODE)
86
operating system update
using Motion Planner 10
operation priority level 36
operator symbols
' 31
! 28
" 32
# 30
$ 29
& 38
( ) 36
* 37
. (bit select operator) 31
/ 38
; 29
@ 29
\\ 32
^ 40
| 39
~() 41
+ 37
< 35
<< 41
<= 35
<> 36
= 33
> 34
>= 34
>> 42
or 368
or, Boolean exclusive (^) 40
or, Boolean inclusive operator (|) 39
or, logical operators (OR) 233
other input status (INO) 183
outputs 11
analog monitor A
scaling 86
variable 87
analog monitor B
scaling 88
variable 89
brake output delay (OUTBD) 238
compiled (POUTA) 258
encoder 233
fault output and relay output
activate on fault condition 304,
307
programmable
activate 234
activate, multiple 236
active level (OUTLVL) 240
bit pattern 11
configuration 325
enable (OUTEN) 238
fault output 240
function assignments
(OUTFNC) 239
limit encontered 239
maximum position error
exceeded 240
moving/not moving 239
356
Gemini GV6K/GT6K Command Reference
output on position 240, 241
PLC 242
program in progress 239
stall indicator 239
status 234, 235, 236, 330
strobing 242
step and direction 233
override analog inputs (ANIEN) 51
override mode 77, 102
over-temp fault
drive 307
motor 307
P
partitioning memory 222
password, RP240 106
pause active, status 295, 348
pause program execution (PS) 260
pause/continue input 180, 212
effect on motion & program
execution 65
peak current, motor 92
phase A current offset 108
phase B current offset 108
phase balance 107
phase, shift
continuous 153
position assignment/comparison
263
position transfer 338
preset 154
phase, tracking 139
Pi (π) 253
PLC
data inputs (INPLC) 184
inputs 184
strob outputs (OUTPLC) 242
PLC program
compiling (PCOMP) 249
defining (PLCP) 253
execute compiled program from
(PEXE) 252
execute program from (EXE) 137
initiate scan mode (SCANP) 276
memory storage 222
time of last scan 345
pointer, data
location 109, 313
reset 74
set 73
polarity
end-of-travel inputs 214
home inputs 214
master encoder input 224
programmable inputs 183
programmable outputs 240
trigger inputs 183
pole pairs, motor 108
PORT (selecting a COM port) 258
position
absolute, establishing 251, 261
actual 251, 335, 336
capture
commanded 120, 245, 332,
343, 352
commanded position 180
encoder 120, 180, 246, 333,
343, 352
master encoder 247, 334
for registration 265
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master 180
master cycle 248, 334
commanded 244, 251, 331, 336
captured 245
current feedback device 138
encoder 250, 335
assignment/comparison 138
master 256, 337
status 318
error
exceeded max. limit 123, 303,
314
setting max. allowable
(SMPER) 293
status 251, 336
master cycle 142
master encoder
absolute, clearing 257
absolute, establishing 257
offset 257
master position prediction See
master, master position
prediction
offset 251, 261
output on position 241
position bandwidth ratio 287
position damping ratio 287
position loop bandwidth 106
positioning mode selection 219,
220
change on the fly 220
resolver 335
RP240 cursor (DPCUR) 107
set to zero after homing 164
setpoint 244, 331
shift
continuous 153
geared to master 139
preset 154
set to zero upon FOLEN1 143
tracking 289
power dissipation circuit
active, status of 307
latched bit 78
fault, status of 57, 307
power-up start program (STARTP)
296
pre-emptive GOs See on-the-fly. See
on-the-fly
preset positioning mode (MCØ) 220
preset shift See shift, preset
priority level 36
product revision 3, 341
profile, compiling (PCOMP) 249
program
branch condition 29, 158, 159,
202, 231
break point 59
comments 5
contents, display 337
data (DATP) 72
debug 340
command errors 309
definition 78, 120, 272
definition, prompt (ERRDEF)
126
directory 312
display contents 337
drive reset, effect of 113
erase 124
error handling 131
error responses 14
execution
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