Parker Automation Gemini GV6K, Command Reference Manual

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190 Gemini GV6K/GT6K Command Reference
Limit # Pin # GT6K & GV6K Function (
LIMFNC
default )
1 28
LIMFNC1-R
(Positive end-of-travel limit)
2 29
LIMFNC2-S
(Negative end-of-travel limit)
3 31 LIMFNC3-T (Home limit)
Acceleration scaling (
SCLA
) affects
LHADA
the same as it does for
LHAD
. Refer to page 16 for details on scaling.
S-curve profiling provides smoother motion control by reducing the rate of change in deceleration; this decel rate
of change is known as
jerk . Refer to page 15 for details on S-curve profiling.
Example:
LHAD10 ; Set the maximum deceleration to 10 units/sec/sec
LHADA5 ; Set the average deceleration to 5 units/sec/sec
[ LIM ]
Limit Status
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
[ IN ], INDEB, INFNC, LH, LIMEN, LIMFNC, LIMLVL, TLIM
Product Rev
GT6K 6.0
GV6K 6.0
The
LIM
operator is used to assign the limit status bits to a binary variable, or to make a comparison against a
binary or hexadecimal value. To make a comparison against a binary value, the letter b (b or B) must be
placed in front of the value. The binary value itself must only contain ones, zeros, or Xs (1, Ø, X, x). To make
a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the value. The
hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
LIM
does not depict the status of onboard inputs or external digital inputs assigned an end-of-travel or home
limit function (
INFNCi-R
,
INFNCi-S
, or
INFNCi-T
). For such inputs, you must use the
IN
operator.
Syntax:
VARBn=LIM
where
n
is the binary variable number,
or
LIM
can be used in an expression such as
IF(LIM=b1XX)
, or
IF(LIM=h7)
The
LIM
value is the debounced version of the limits status (debounced with the
ØINDEB
value). Axis status
(
AS
) bits 15 and 16 reports the non-debounced version of the end-of-travel limits.
There are 3 limit inputs: positive-direction, negative-direction, and home end-of-travel limits. Each is
available for assignment or comparison. If it is desired to assign only one limit input value to a binary
variable, instead of the status of all the limit inputs, the bit select (
.
) operator can be used. The bit select, in
conjunction with the limit input number, is used to specify a specific limit input. For example,
VARB1=LIM.3
assigns limit input 3 (home limit) to binary variable 1.
Format for binary assignment:
Bit #1
Bit #3
000
LIM
bit Function
1 Positive-direction Limit
2 Negative-direction Limit
3 Home Limit
Example:
IF(LIM=b11X) ; If both end of travel limit inputs are active, then
; do the statements between the IF and NIF
TLIM ; Transfer limit status
NIF ; End IF statement
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