Parker Automation Gemini GV6K, Command Reference Manual

Page: 232 / 362

230 Gemini GV6K/GT6K Command Reference
NIF ; End IF statement
[ PER ]
Position Error
Type
Assignment or Comparison
Syntax
See below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also
DRES, ERES, SCLD, SFB, SMPER, TAS, TPER, TPE, TPC
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
The
PER
operator is used to assign the current position error to a variable, or to make a comparison against
another value. The value assigned to the variable or the value against which the comparison is made is
measured in feedback device counts and is scaled by the distance scaling factor (
SCLD
), if scaling is
enabled with the
SCALE1
command.
The position error is the difference between the commanded position and the actual position read by the
feedback device. This error is calculated every sample period and can be displayed at any time using the
TPER
command.
Syntax:
VARn=PER
where “
n
” is the variable number, or
PER
can be used in an expression such as
IF(0PER>5Ø)
.
Example:
VAR1=PER ; Position error is assigned to variable 1
IF(PER>2000) ; If the position error is >2000 encoder counts,
; do the IF statement (enable output #4)
OUTXXX1 ; Enable onboard output #4
NIF ; End IF statement
PESET
Encoder Absolute Position Reference - Stepper Axes
Type
Motion
Syntax
<a_><!>PESET<r>
Units
r = units (absolute position of encoder)
Range
±
999,999,999.99999
Default
n/a
Response
n/a
See Also
ENCCNT, INFNC, [ PCE ], [ PE ], PMESET, PSET, SCALE, SCLD,
TPCE, TPE
Product Rev
GT6K 6.0
GV6K n/a
(applicable to stepper
axes only)
Use the
PESET
command to offset the current encoder absolute position to establish an absolute position
reference for the encoder reports (
TPE
,
PE
,
TPCE
,
PCE
). All
PESET
values entered are in encoder steps,
scalable by the
SCLD
value if scaling is enabled.
NOTE
: If you issue a
PESET
command, any previously captured encoder positions (
INFNCi-H
or
LIMFNCi-
H function) will be offset by the
PESET
value.
Example:
ENCCNT1 ; Place axis in the encoder count referencing mode
PESET0 ; Set absolute position to zero
TPE ; Display the new position. The new encoder position
; report should be: *TPE0
PESET1000 ; Set absolute position to 1000 units
TPE ; Display the new position. The new encoder position
; report should be: *TPE1000
www.comoso.com