Parker Automation Gemini GV6K, Command Reference Manual

Page: 199 / 362

Command Descriptions 197
NOTES
•
If one task attempts to lock a resource in a different task (e.g., if Task1 attempts to execute the
2%LOCK1,1
command), the drive will respond with an error message (“
ALTERNATE TASK NOT
ALLOWED
“).
•
If task “A” attempts to lock a resource that is already locked to task “B”, command processing in
task “A” will pause on the
LOCK
command, and
SS
bit 26 or 27 will be set (“
SUSPENDED ON
COMn
“). When task “B” unlocks the resource, task “A” will be able to lock the resource and
continue processing.
•
If task “A” attempts to lock task swapping while any other task has locked a resource, command
processing in task “A” will pause on the
LOCK
command, and
SS
bit 24 will be set (“
SUSPENDED
ON SWAP
“). When all other tasks release locks on all other resources (COM1, COM2), task “A”
will be able to lock task swapping and continue processing.
•
A resource may be locked by a task only while that task is executing a program. If program
execution is terminated for any reason (e.g., stop, kill, limit, fault, or just reaching the
END
of a
program), all resources locked by that task will become unlocked.
Example:
LOCK1,1 ; Ensure exclusive COM1 access for the task executing
; this program
WRITE"travel is" ; First part of output string
WRVAR1
; Numeric value of travel
WRITE"inches.” ; Finish complete string
LOCK1,0 ; Allow other tasks access to COM1
LS
Soft Limit Enable
Type
Limit (End-of-Travel)
Syntax
<a_><!>LS<i>
Units
n/a
Range
i = 0 (disable both), 1 (disable positive-direction),
2 (disable negative-direction) or 3 (enable both)
Default
0
Response
LS: *LS0
See Also
[ AS ], [ ER ], LH, LSAD, LSADA, LSNEG, LSPOS, PSET, TAS, TER,
TSTAT
Product Rev
GT6K 6.0
GV6K 6.0
The
LS
command determines the status of the programmable soft move distance limits. With soft limits
disabled, motion will not be restricted. After a soft limit absolute position has been programmed (
LSPOS
and
LSNEG
), and the soft limit is enabled (
LS
), a move will be restricted upon reaching the programmed
soft limit absolute position. The rate at which motion is decelerated to a stop upon reaching a soft limit is
determined by the
LSAD
and
LSADA
commands.
Disable negative- and positive-direction soft limits
i = 0
Enable negative-direction, disable positive-direction soft limit
i = 1
Enable positive-direction, disable negative-direction soft limit
i = 2
Enable negative- and positive-direction soft limits
i = 3
NOTE :
The Gem6K drive maintains an absolute count, even though you may be programming in the
incremental mode (
MAØ
). The soft limits will also function in preset mode (
MCØ
) or continuous
mode (
MC1
). The soft limit position references the commanded position (
TPC
), not the position as
measured by a feedback device, such as an encoder (
TPE
).
NOTE
If a soft limit is encountered while limits are enabled, motion must occur in the opposite direction
before a move in the original direction is allowed. You cannot use the
PSET
command to clear the
soft limit condition. If limits are disabled, you are free to make a move in either direction.
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