Parker Automation Gemini GV6K, Command Reference Manual

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110 Gemini GV6K/GT6K Command Reference
In a terminal emulator mode, you may not see the echoed characters on your display when issuing
commands that have a response, because the echoed characters may be overwritten by the response.
The
PORT
command determines which COM port is affected by the
ECHO
command.
The purpose of the
ECHO2
and
ECHO3
options is to accommodate an RS-485 multi-drop configuration in
which a host computer communicates to the “master” Gem6K drive over RS-232 (COM2 port) and the
master Gem6K drive communicates over RS-485 (COM1 port) to the rest of the units on the multi-drop.
For this configuration, the echo setup should be configured by sending to the master the following
commands executed in the order shown. In this example, it is assumed that the master's device address is
set to 1. Hence, each command is prefixed with “
1_
” to address only the master unit.
1_PORT1
....... Subsequent command affects COM1, the RS-485 port
1_ECHO2
....... Echo characters back through the other port, COM2
1_PORT2
....... Subsequent command affects COM2, the RS-232 port
1_ECHO3
....... Echo characters back through both ports, COM1 and COM2
ELSE
Else Condition of IF Statement
Type
Program Flow Control
Syntax
<a_><!>ELSE
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
IF, NIF
Product Rev
GT6K 6.0
GV6K 6.0
ELSE is used in conjunction with the
IF
and
NIF
commands to provide conditional branching. If the
expression contained within the parentheses of the
IF
command evaluates true, then the commands
between the
IF
and the
ELSE
are executed, and the commands after the
ELSE
until the
NIF
are ignored. If
the expression evaluates false, the commands between the
ELSE
and the
NIF
are executed and the
commands between
IF
and
ELSE
are ignored. The
ELSE
command is optional and does not have to be
included in the
IF
statement.
IF( )
...
ELSE
...
NIF
commands can be nested up to 16 levels deep.
Programming order:
IF(
expression
)
...commands...
ELSE
...commands...
NIF
Example:
IF(IN.1=b1) ; Specify condition: if onboard input #1 is on
T5 ; If condition evaluates true, wait 5 seconds
ELSE ; Else part of IF condition
TPE ; If condition does not evaluate true transfer encoder position
NIF ; End IF statement
ENCCNT
Encoder Count Reference Enable
Type
Encoder; Drive Configuration
Syntax
<a_><!>ENCCNT<b>
Units
b = enable bit
Range
0 (reference the commanded position),
1 (reference the encoder position) or X (don't change)
Default
0 (reference the commanded position)
Response
ENCCNT *ENCCNT0
See Also
ESTALL, INFNC, LIMFNC, OUTP, [ PCC ], [ PCE ], [ PCME ],
[ PE ], TPCC, TPCE, TPCME, TPE, TVELA, [ VELA ]
Product Rev
GT6K 6.0
GV6K n/a
(applicable only to
stepper axes)
Use
ENCCNT
to configure a GT6K to reference either the encoder position or the commanded position when
capturing the position (see
INFNCi-H
) and checking the encoder position (
PE
and
TPE
). When checking the
actual velocity (
VELA
and
TVELA
),
ENCCNT
determines whether the velocity, in units of revs/sec, is derived
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