318
Gemini GV6K/GT6K Command Reference
TSEG
Transfer Number of Free Segment Buffers
Type
Compiled Motion; Transfer
Syntax
<a_><!>TSEG
Units
n/a
Range
n/a
Default
n/a
Response
TSEG: *TSEG258
See Also
MEMORY, TDIR, TMEM, [SEG], [SS], TSS, TSSF
Product Rev
GT6K 6.0
GV6K 6.0
The
TSEG
command returns the number of free segment buffers in compiled memory.
System status bit (see
TSSF
,
TSS
, and
SS
) 29 is set when the compiled memory is 75% full, and bit 30 is set
if the compiled memory is 100% full.
TSGSET
Transfer Servo Gain Set
Type
Transfer
Syntax
<a_><!>TSGSETi
Units
i = gain set identification number (see SGSET command)
Range
1-3
Default
n/a
Response
(reports all gains in the specified set)
See Also
SFB,
SGAF,
SGENB,
SGSET,
SGVF,
TGAIN
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
This command allows you to display any of the 3 gain sets that you saved with the
SGSET
command. Up to
3 gain sets can be saved with the
SGSET
command. Each gain set contains these gain parameters:
•
DIBW
(current loop bandwidth)
•
DMTLIM
(torque/force limit)
•
DMVLIM
(velocity limit)
•
DNOTAD
(notch filter A depth)
•
DNOTAF
(notch filter A frequency)
•
DNOTAQ
(notch filter A quality factor)
•
DNOTBD
(notch filter B depth)
•
DNOTBF
(notch filter B frequency)
•
DNOTBQ
(notch filter A quality factor)
•
DNOTLD
(notch lead filter break frequency)
•
DNOTLG
(notch lag filter break frequency)
•
DPBW
(position loop bandwidth)
•
LDAMP
(load damping)
•
LJRAT
(load-to-rotor inertia ratio or load-to-force mass ratio)
•
SGAF
(acceleration feedforward gain)
•
SGINTE
(integrator enable)
•
SGIRAT
(current damping ratio)
•
SGPRAT
(position loop ratio)
•
SGPSIG
(velocity/position bandwidth ratio)
•
SGVF
(velocity feedforward gain)
•
SGVRAT
(velocity damping ratio)
NOTE: To report the present gain values in effect, use the
TGAIN
command.
TSKAX
Task Axis
Type
Multi-Tasking
Syntax
i%TSKAX<a>
Units
i = task number
a = 0 or 1
Range
For i: 0-10
For <a>:1 or 0
Default
a = 1
Response
TSKAX: *TSKAX1
See Also
%,
TTASK, [ TASK ], TSWAP, [ SWAP ], TSKTRN
Product Rev
GT6K 6.0
GV6K 6.0
The Task Axis command (
TSKAX
) allows you to specify whether or not a task is associated with motion.
The default condition in multi-tasking (
TSKAX1
) is that each task is associated with motion. This means, for
example, that when the load hits an end-of travel limit, program execution will be killed within that task,
and in all other tasks associated with motion.
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