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Syntax – General Guidelines
Guideline Topic
Guideline
Command Delimiters
All commands must be separated by a
(<cr>, <lf>, and :)
delimiter. A carriage return is the most
commonly used. The colon (:)allows you to
place multiple commands on one line of code.
Neutral Characters
Using neutral characters anywhere within a
command will not affect the command.
(<sp> and <tab>)
Case Sensitivity
There is no case sensitivity. Use upper or
lower case letters within commands.
Comment Delimiter (;)
All text between a comment delimiter and a
command delimiter is considered program
comments.
Field Separator (,)
Commands with the symbol r or i in their
Syntax description require field separators.
Commands with the symbol b or d in their
Syntax description do not require field
separators (but they may be included).
Global Command
When you wish to set the command value
Identifier (@)
equal on all outputs, add the @ symbol at the
beginning of the command (enter only the
value for one command field).
The @ symbol is also useful for checking
the status of all inputs or
outputs on all I/O bricks.
The bit select operator allows you to affect
Bit Select Operator (.)
one or more binary bits without having to
enter all the preceding bits in the command.
Syntax for setup commands:
[command name].[bit #]-[binary value]
Syntax for conditional expressions:
[command name].[bit #]=[binary value]
Left-to-right Math
All mathematical operations assume
left-to-right precedence.
Binary and Hexadecimal
When making assignments with or
Values
comparisons against binary or hexadecimal
values, you must precede the binary value
with the letter "b" or "B", and the hex value
with "h" or "H". In the binary syntax, an "x"
simply means the status of that bit is ignored.
Multi-tasking Task
Use the % command prefix to identify the
Identifier (%)
command with a specific task.
NOTE: The command line is limited to 80 characters (excluding spaces).
4
Gemini GV6K/GT6K Command Reference
Examples
Set acceleration to 10 rev/sec/sec:
A10<cr>
A10<lf>
A10: V25 : D25000 : GO<cr>
Set velocity to 10 rps:
V<sp>10<cr>
Initiate motion:
GO1
go1
Add a comment to the command:
V10<tab> ;set velocity
Display variable #1 on the RP240 at the current
cursor location with 3 characters displayed to
the left of the decimal, 2 to the right of the
decimal, and the sign:
DVAR1,3,2,1
Enable error checking for hard limits and drive
faults:
ERROR0101
Set the digital outputs (#1 & #2) active on all
digital outputs (onboard and external):
@OUT11
Check the status of all digital outputs (onboard,
and on external I/O bricks):
@OUT
Enable error-checking bit #9:
ERROR.9-1
Enable error-check bits #9-12:
ERROR.9-1,1,1,1
IF statement based on value of axis status bit
#12 for axis #1:
IF(1AS.12=b1)
VAR1=5+3*2
Result: Variable 1 is assigned the value of 16
(8*2), not 11 (5+6)
Binary: IF(IN=b1x01)
Hexadecimal: IF(IN=h7F)
Launch the "move1" program in Task 1:
1%move1
Check the error status for Task 3:
3%TER
Check the system status for Task 3:
3%TSS
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