Parker Automation Gemini GV6K, Command Reference Manual

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324 Gemini GV6K/GT6K Command Reference
TTRIG
Transfer Trigger Interrupt Status
Type
Transfer, Inputs
Syntax
<a><!>TTRIG
Units
n/a
Range
n/a
Default
n/a
Response
TTRIG
*
TTRIG0000_0
See Also
INFNC, [ PCC ], [ PCE ], [ PCME ], [ PCMS ], TAS, TPCC, TPCE,
TPCME, TPCMS, TRGFN, TRGLOT, [ TRIG ]
Product Rev
GT6K 6.0
GV6K 6.0
Use the
TTRIG
command to check whether a “trigger interrupt” input has been activated to capture a
position, initiate a registration move, or execute a
TRGFN
function. “Trigger Interrupt” inputs are onboard
inputs that have been assigned the trigger interrupt function with the
INFNCi-H
command.
Each
TTRIG
bit is cleared when the captured position value is read with the
PCC
,
PCE
,
PCME
,
PCMS
,
TPCC
,
TPCE
,
TPCME
, or
TPCMS
commands, but the position information is still available from the respective
register until it is overwritten by a subsequent position capture by the same trigger input.
TTRIG
bit assignments for inputs on the
DRIVE I/O
connector are shown below (bits are numbered 1-5 from
left to right). A bit that is set (“
1
”) indicates the trigger interrupt has occurred, a “
0
” indicates no trigger
interrupt.
TTRIGbbbb_b
Input # Pin # GT6K & GV6K Function (
INFNC
default )
1 37
INFNC1-A
(General-purpose. If assigned, TRG-A must be on Input #1)
2 38
INFNC2-A
(General-purpose. If assigned, TRG-B must be on Input #2)
3 39
INFNC3-A
(General-purpose)
4 34
INFNC4-A
(General-purpose)
5 35
INFNC5-A
(General-purpose. If assigned, MASTER TRIGGER must
be on Input #5)
Example
COMEXC1 ; Continuous command execution
INFNC1-H ; Define input 1 as trigger A
REGA10000 ; Registration move on trigger A event
WAIT(TRIG.1=B1) ; Wait for trigger A event to occur
WRITE"TRIGGER A OCCURRED" ; Display message
TTRIG ; Get report back (display to monitor)
; response should be: *TTRIG1000_0
TTRQ
Transfer Commanded Torque/Force
Type
Transfer
Syntax
<a_><!>TTRQ
Units
percent of the DMTSCL value
Range
-100.00% to +100.00% : ±0.01
Default
n/a
Response
TTRQ: *TTRQ50.00
See Also
DMODE, DMONAV, DMONBV, DMTLIM, DMTSCL, TTRQ
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
In Autorun mode (
DMODE13
) and Torque/Force Tuning mode (
DMODE15
),
TTRQ
= 0. In all other
DMODE
modes,
TTRQ
reports the actual internal torque/force setpoint as a percentage of
DMTSCL
. Several
commands may limit the maximum value of
TTRQ
. These commands include
DMTLIM
,
DMVLIM
,
DMTIC
,
DMTIP
,
TDICNT
,
TDIMAX
.
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