Parker Automation Gemini GV6K, Command Reference Manual

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166 Gemini GV6K/GT6K Command Reference
Identifier Function Description
O
Joystick Velocity Select. Allows you to select the velocity for joystick motion. The
JOYVH
and
JOYVL
commands establish two joystick velocities. Opening the Velocity Select input (input is
high) selects the
JOYVH
configuration. Closing the Velocity Select input (input is low) selects the
JOYVL
configuration. The
JOYVL
velocity could be used to quickly move to a location, the
JOYVH
velocity could be used for low-speed accurate positioning. NOTE: When this input is not
connected, joystick motion always uses the
JOYVH
velocity setting.
aP
Program Select. One to one correspondence for input vs. program number. The program
number comes from the
TDIR
command. The number specified before the program name is the
number to specify within this input definition. For example, in the
2INFNC1-3P
command, 3 is the
program number. An input defined as a Program Select Input will not function until the
INSELP
command has been enabled.
Q
Program Security. Issuing the
INFNCi-Q
command enables the Program Security feature and
assigns the Program Access function to the specified programmable input.
The program security feature denies you access to the
DEF
,
DEL
,
ERASE
,
MEMORY,INFNC
and
LIMFNC
commands until you activate the program access input. Being denied access to these
commands effectively restricts altering the user memory allocation. If you try to use these
commands when program security is active (program access input is not activated), you will
receive the error message
*ACCESS DENIED
. The
INFNCi-Q
command is not saved in battery-
backed RAM, so you may want to put it in the start-up program (
STARTP
).
For example, once you issue the
3INFNC12-Q
command, the input on the 4
th
pin on SIM2 (I/O
point 12) of I/O brick 3 is assigned the program access function and access to the
DEF
,
DEL
,
ERASE
,
MEMORY
,
INFNC
, and
LIMFNC
commands will be denied until you activate the input.
To regain access to these commands without the use of the program access input, you must
issue the
INEN
command to disable the program security input, make the required user memory
changes, and then issue the
INEN
command to re-enable the input. For example, if input 3 on
brick 2 is assigned as the Program Security input, use
2INEN.3=1
to disable the input and leave
it activated, make the necessary user memory changes, and then use
2INEN.3=E
to re-enable
the input.
R
End-of-Travel Limit, Positive Direction. This assigns the positive direction end-of-travel limit
input function. For example,
INFNC1-R
assigns the "Positive EOT limit" function to general-
purpose input #1. “Positive direction” correlates to motion in the positive-counting direction as
reported with
TPE
and
TPC
. REMEMBER : Once an input is assigned a limit function, it is no
longer debounced (
INDEB
has no effect), and it must be enabled/disabled with the
LH
command
instead of the
INEN
command.
S
End-of-Travel Limit, Negative Direction. This assigns the negative direction end-of-travel limit
input function. For example,
INFNC2-S
assigns the "Negative EOT limit" function to general-
purpose input #2. “Negative direction” correlates to motion in the negative-counting direction as
reported with
TPE
and
TPC
. REMEMBER : Once an input is assigned a limit function, it is no
longer debounced (
INDEB
has no effect), and it must be enabled/disabled with the
LH
command
instead of the
INEN
command.
T
Home Limit. This assigns the home limit input function. For example,
INFNC3-T
assigns the
"Home limit" function to general-purpose input #3. REMEMBER : Once an input is assigned a limit
function, it is no longer debounced. For more information on homing, refer to the
HOM
command
and the Homing section in the Programmer’s Guide .
Example:
3INFNC1-D ; Input at I/O point #1 on brick 3 is defined to be a stop input
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