Table of Contents
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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
presently active gains, display
321
torque/force limit (DMTLIM) 94
velocity damping ratio
(SGVRAT) 289
velocity limit (DMVLIM) 101
velocity/position bandwidth ratio
(SGPSIG) 287
set data pointer (DATPTR) 73
settling time See target zone
setup wizards
Motion Planner 8
shift
continuous 153
application example 153
position
assignment/comparison 263
transfer 338
geared to master 139
L to R (bit 1 to bit 32) 42
preset 154
application example 155
position
assignment/comparison 263
transfer 338
R to L (bit 32 to bit 1) 41
status 151, 319
shutdown the drive 114, 203, 204
sine 291
sine wave (virtual master)
amplitude (SINAMP) 291
angle (SINANG) 292
start (SINGO) 292
single step mode 30, 296
single-shot registration (REGSS) 269
soft limit
deceleration (LSAD) 217
effect on command buffer 65
enable (LS) 216
negative-direction range
(LSNEG) 218
positive-direction range (LSPOS)
218
s-curve deceleration 217
software revision level 341
space (neutral character) 5
square root 294
stall detection
drive (DSTALL)
enable 115
stall detection
drive (DSTALL)
sensitivity 115
encoder (ESTALL) 136
backlash deadband (ESDB)
135
start timer (TIMST) 323
358
Gemini GV6K/GT6K Command Reference
start-up program (STARTP) 296
static torque 99
statistics, drive config. & status 350
status
axis 55, 302
axis, extended 56, 305, 306, 308
clear latched bits (DCLRLR) 77
command error 18, 309
commanded position 244, 331
captured 245, 332
compiled motion memory 295,
348
data pointer location 109, 313
enable input 325
encoder
master position 256, 337
encoder position 250, 335
captured 246, 333
error 122, 314, 316
error log 317
Ethernet address 330
expansion I/O 325
Following 151, 318, 320
free segments, compiled memory
284, 346
gain set 346
gains, presently active 321
inputs 356
enable 325
programmable 174
interrupt 356
labels 326
limits 209, 214, 327
master encoder position
captured 247, 334
memory 312, 327
motor configuration errors 310
moving/not moving 224
outputs 234, 235, 236, 330
pause 295, 348
position capture 343, 352
position error 251, 336
program contents 337
program directory 312
program execution 295, 317, 348
resolver position 335
settling time 350
software revision level 341
system 294, 348, 349, 356
timer 351
user 175, 353, 357
velocity
feedback device 354
motor 353
voltage input for ANI 301
wait 295, 348
step & direction from master encoder
(MESND) 224
step through a program 30, 296
stop
command 272
effect on program execution 67
input (INFNCi-D) 67, 180, 274
input (LIMFNCi-D) 212
stop key (RP240) 116
stop timer (TIMSTP) 323
string variable (VARS) 32, 362, 371
clearing 360
strobe
PLC 242
thumbwheels 243
time 185
subroutine
www.comoso.com
branch condition 231
definition 78, 120
effect of drive reset 113
effect of reset 271
name 79
substitutions, command values 6
binary variable (VARB) 360
data assignment (DAT) 71
numeric data read (READ) 268
numeric variable (VAR) 359
RP240 Function Key (DREADF)
111
RP240 numeric data (DREAD)
110
thumbwheel data (TW) 355
subtraction 37
support, technical assistance 164
swapping, tasks
controlling 347
status 299, 351
syntax 3, 4
guidelines 5
system status (SS) 294
T
tangent (TAN) 301
target zone 303
display actual settling time 350
enabling 297
setting the distance zone 297
setting the timeout period 298
setting the velocity zone 299
timeout error 303
task supervisor 27
tasks See multi-tasking
direct with prefix (%) 27
teach mode
data assignment (DAT) 71
data pointer (DATPTR) 73
data pointer reset (DATRST) 74
data program (DATP) 72
data program size (DATSIZ) 74
data statement (DATA) 72
data storage (DATTCH) 76
memory requirement 222
technical support 164
temperature fault
drive 307
motor 307
temperature status
drive 313
motor 328
temperature, motor (ambient) 90
temperature, motor winding 96
terminal emulator
Motion Planner 9
terminate loop (LX) 219
terminate program execution 60,
131, 163
thermal time constant, motor 100
thumbwheel
assignment (TW) 355
data inputs (INSTW) 186
strobe outputs (OUTTW) 243
time delay (T) 300
timeout, target zone 303
timer 351
assignment of value (TIM) 322
start 323
stop 323
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