Parker Automation Gemini GV6K, Command Reference Manual

Page: 167 / 362

Command Descriptions 165
Identifier Function Description
H
(con’t.) Continued from previous page (Trigger Interrupt function):
NOTES ABOUT POSITION CAPTURE :
- Hardware Capture: The encoder position is captured within ± 1 encoder count. The
commanded position capture accuracy is ± 1 count.
- Interpolated Capture: There is a time delay of up to 50 µs between activating the trigger
interrupt input and capturing the position; therefore, the accuracy of the captured position
is equal to 50 µs multiplied by the velocity of the axis at the time the input was activated.
- Servo vs. Stepper. The nature of the axis position captured with a Trigger Interrupt input
may be different, depending on whether the drive is a servo (GV6K) or stepper GT6K. For
servo axes, both the commanded and encoder position for the axis are captured. For
stepper axes, if the
ENCCNT
command is set to
ENCCNT0
(default condition), only the
commanded position is captured. If
ENCCNT1
mode is enabled, only the encoder position
is captured.
•
Registration . (see
RE
description for details)
•
Special trigger functions defined with the
TRGFN
command (see
TRGFN
for details).
NOTES ABOUT TRIGGER INTERRUPT INPUTS :
- When an input is assigned the "Trigger Interrupt" function, the debounce is governed by the
TRGLOT
command setting (default is 24 ms). The
TRGLOT
setting overrides the existing
INDEB
setting for only the inputs that are assigned the “Trigger Interrupt” function.
- When an input is assigned the "Trigger Interrupt" function, the input cannot be affected by
the input enable (
INEN
) command.
- Trigger Interrupt Status: Use the
TTRIG
and
TRIG
commands to ascertain if a trigger
interrupt input has been activated.
TTRIG
displays the status as a binary report, and
TRIG
is
an assignment/comparison operator for using the status information in a conditional
expression (e.g., in an
IF
statement). The
TTRIG
/
TRIG
bits are cleared when the respective
captured position is read (see table above).
I
Alarm Event - Will cause the Gem6K drive to set an Alarm Event in the Communications Server
over the Ethernet interface. You must first enable the Alarm checking bit for this input-driven
alarm (
INTHW.23-1
). For details on using alarms, refer to the Programmer’s Guide .
J
JOG positive-direction - Will jog the axis in a positive direction. The
JOG
command must be
enabled for this function to work.
K
JOG negative-direction. Will jog the axis in a negative direction. The
JOG
command must be
enabled for this function to work.
L
JOG Speed Select. Selects the high or low velocity range while jogging. If the input is active, the
high jog velocity range will be selected.
M
Joystick Release. Signals the drive to end joystick operation and resume program execution
with the next statement in your program. When the input is open (high), the joystick mode is
disabled (joystick mode can be enabled only if the input is closed, and only with the
JOY
command). When the input is closed (low), joystick mode can be enabled with the
JOY
command.
The process of using Joystick mode is:
1. Assign the "Joystick Release" input function to a programmable input.
2. At the appropriate place in the program, enable joystick control of motion (with the
JOY
command). (Joystick mode cannot be enabled unless the "Joystick Release" input is closed.)
When the
JOY
command enables joystick mode, program execution stops (assuming the
Continuous Command Execution Mode is disabled with the
COMEXCØ
command).
3. Use the joystick to move the axis as required.
4. When you are finished using the joystick, open the "Joystick Release" input to disable the
joystick mode. This allows program execution to resume with the next statement after the initial
JOY
command that started the joystick mode.
N
Reserved
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