Parker Automation Gemini GV6K, Command Reference Manual

Page: 195 / 362

Command Descriptions 193
Identifier Function Description
C
Kill. Kills motion and halts all command processing (refer to
K
and
KDRIVE
command descriptions
for further details on the kill function). This is an edge detection function and is not intended to
inhibit motion. To inhibit motion, use the Pause/Resume function (
LIMFNCi-E
). When enabled with
the
ERROR
command, bit #6 of the
TER
and
ER
commands will report the kill status.
D
Stop. Stops motion. If
COMEXS
is set to zero (
COMEXSØ
), program execution will be terminated. If
COMEXS
is set to 1 (
COMEXS1
), command processing will continue. With
COMEXS
set to 2
(
COMEXS2
), program execution is terminated, but the
INSELP
value is retained. Motion deceleration
during the stop is controlled by the
AD
&
ADA
commands. If error bit #8 is enabled (e.g.,
ERROR.8-
1
), activating a Stop input will set the error bit and cause a branch to the
ERRORP
program.
E
Pause/Continue. If
COMEXR
is disabled (
COMEXRØ
), then only command execution pauses, not
motion. With
COMEXR
enabled (
COMEXR1
), both command and motion execution are paused. After
motion stops, you can release the input or issue a continue (
!C
) command to resume command
processing (and motion in
COMEXR1
mode).
F
User Fault. Refer to the
ERROR
command. If error bit #7 is enabled (e.g.,
ERROR.7-1
), activating a
User Fault input will set the error bit and cause a branch to the
ERRORP
program. CAUTION :
Activating the user fault input sends an
!K
command to the drive, “killing” motion (refer to the
K
command description for ramifications).
G,H
Reserved
I
Alarm Event - Will cause the 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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