Parker Automation Gemini GV6K, Command Reference Manual

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14 Gemini GV6K/GT6K Command Reference
Identifying Bad Commands
To facilitate program debugging, the Transfer Command Error (
TCMDER
) command allows you to transfer
the first command that the controller detects as an error. This is especially useful if you receive an error
message when running or downloading a program, because it catches and remembers the command that
caused the error.
Using Motion Planner: If you are typing the command in a live terminal emulator session, the controller
will detect the bad command and respond with an error message, followed by the
ERRBAD
error
prompt (
?
). If the bad command was detected on download, the bad command is reported
automatically (see example below).
NOTE : If you are not using Motion Planner, you'll have to type in the
TCMDER
command at the error
prompt to display the bad command.
Once a command error has occurred, the command and its fields are stored and system status bit #11
(reported in the
TSSF
,
TSS
and
SS
commands) is set to
1
. The status bit remains set until the
TCMDER
command is issued.
Example Error Scenario:
1. In Motion Planner's program editor, create and save a program with a programming error:
DEL badprg ; Delete a program before defining and downloading
DEF badprg ; Begin definition of program called badprg
MA1 ; Select the absolute preset positioning mode
A25 ; Set acceleration
AD11 ; Set deceleration
V5 ; Set velocity
VAR1=0 ; Set variable #1 equal to zero
GO1 ; Initiate move
IF(VAR1<)16 ; MISTYPED IF STATEMENT - should be typed as "IF(VAR1<16)"
VAR1=VAR1+1 ; If variable #1 is less than 16, increment the counter by 1
NIF
; End IF statement
END ; End programming of program called badprg
2. Using Motion Planner's terminal emulator, download the program to the Gem6K Series product. Notice
that an error response identifies the bad command as an “
INCORRECT DATA
” item and displays it:
> *NO ERRORS
*INCORRECT DATA
> *IF(VAR1<)16
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