Parker Automation Gemini GV6K, Command Reference Manual

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274 Gemini GV6K/GT6K Command Reference
STRGTV
Target Velocity Zone
Type
Servo
Syntax
<a_><!>STRGTV<r>
Units
r = units/sec (scalable by SCLV)
(linear motors: see DMEPIT for linear/rotary conversion)
Range
0.0000-200.0000
Default
1.00000
Response
STRGTV: *STRGTV1.0000
See Also
[ AS ], DMEPIT, ERROR, ERRORP, SCLV, STRGTD, STRGTE, STRGTT,
TAS, TER, TSTLT
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
STRGTV
sets the target velocity zone for use in the Target Zone Settling Mode. The target velocity zone is a
velocity range that the load must be within before motion is considered complete. If scaling (
SCALE
) is
enabled, the
STRGTV
value is multiplied by the velocity scale factor (
SCLV
).
When using the Target Zone Mode, the load's actual position and actual velocity must be within the target
zone (that is, within the distance zone defined by
STRGTD
and less than or equal to the velocity defined by
STRGTV
) before motion can be determined complete. Axis status bit #24 (see
TASF
,
TAS
, or
AS
) indicates
when the axis is within the zone specified with
STRGTD
and
STRGTV
; this bit is usable even if the Target
Zone Mode is not enabled (
STRGTE0
).
If the load does not settle into the target zone before the timeout period set by
STRGTT
, the Gem6K drive
detects an error (see
TASF
,
TAS
, or
AS
bit #25, and
TER
bit #11). If this error occurs, you can prevent
subsequent command and/or move execution by enabling bit #11 in the
ERROR
command to continually
check for this error condition, and when it occurs to branch to a programmed response defined in the
ERRORP
program. (Refer to the
ERRORP
command description for an example of using an error program.)
For more information on target zone operation, refer to the Programmer's Guide.
Example (see
STRGTE
):
[ SWAP ]
Task Swap Assignment
Type
Assignment or Comparison; Multi-Tasking
Syntax
See Below
Units
n/a
Range
n/a
Default
n/a
Response
n/a
See Also %,
[ SS ], TTASK, TSWAP, TSKTRN, TSKAX, TSS
Product Rev
GT6K 6.0
GV6K 6.0
The
SWAP
command allows a binary bit pattern indicating the tasks that are currently active to be assigned
to a binary variable, or evaluated in a conditional statement such as
IF
or
WAIT
. This is useful for
ascertaining which tasks have any activity. To ascertain exactly what activity a specific task has at a given
time, use the system status commands (
SS
or
TSS
).
SWAP
’s binary 10-bit pattern represents tasks 1-10, from left to right. A “
1
” indicates that the task is active,
and a “
0
” indicates that the task is inactive. The “Task Supervisor”, represented by task Ø, is always active
and is therefore not included in the
SWAP
and
TSWAP
status.
Syntax :
VARBn=SWAP
where “
n
” is the binary variable number, or
SWAP
can be used in an expression such
as
IF(SWAP=b1001000000)
or
IF(SWAP.3=b1)
or
IF(SWAP=h7F0)
.
To check the status of only one task, you may use the bit select (
.
) operator. For example,
VARB1=SWAP.2
assigns the binary state of Task2 to binary variable 1; or
WAIT(SWAP.2=b1)
establishes a wait condition that evaluates true when Task2 becomes active.
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