Parker Automation Gemini GV6K, Command Reference Manual

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60 Gemini GV6K/GT6K Command Reference
[ D ]
Distance Assignment
Type
Assignment or Comparison
Syntax
See below
Units
distance units (scalable by SCLD)
Range
±
999,999,999.99999
Default
n/a
Response
n/a
See Also
D, GO, MA, MC, PSET, SCLD
Product Rev
GT6K 6.0
GV6K 6.0
The distance assignment (
D
) command is used to compare the programmed distance value to another value
or variable, or to assign the current programmed distance to a variable.
Syntax:
VARn=D
where
n
is the variable number, or
[D]
can be used in an expression such as
IF(D<25ØØØ)
. The
D
value used in any comparison, or in any assignment statement is the
programmed
D
value. If the actual position information is required, refer to the
PC
command for
steppers, or the
PE
command for servos.
UNITS OF MEASURE and SCALING : refer to page 16 .
Example:
IF(D<25000) ; If the programmed distance is less than 25000 units,
; then do the statements between the IF and NIF
VAR1=D*2 ; Variable 1 = programmed distance times 2
D(VAR1) ; Set the distance to the value of variable 1
NIF ; End the IF statement
DABSD
Enable ABS Damping
Type
Drive Configuration
Syntax
<a_><!>DABSD<b>
Units
b = enable bit
Range
0 (disable) or 1 (enable)
Default
0 (disabled)
Response
DABSD: *DABSD1
See Also
DACTDP, DDAMPA, DELVIS
Product Rev
GT6K 6.0
GV6K n/a
(applicable only to
stepper axes)
The
DABSD
command enables or disables the ABS damping function. ABS is a damping technique
designed for use at very low to zero speed. ABS damping requires no additional user setup or
configuration. When enabled (
DABSD1
), ABS damping takes precedence over electronic viscosity
(
DELVIS
) at speeds less than approximately 0.2 revs/sec (motor dependent). ABS damping can be disabled
during acceleration with the
DDAMPA0
command (
DDAMPA0
is the factory default setting).
GT6K Damping Features:
The GT6K drive provides damping features that reduce vibration, increase low-
speed smoothness, and decrease load settling time. (A procedure for configuring damping settings is provided
in the Configuration chapter of the
Hardware Installation Guide .)
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