Command Descriptions
123
5
Commanded Stop or Kill
(whenever a
K
,
!K
,
<ctrl>K
,
S
,
or
!S
command is sent)
— See “Commanded Kill or
Stop” note below.
If
!K
, then Goto;
If
!S
&
COMEXSØ
,
then Goto;
If
!S
&
COMEXS1
, then
Gosub, but need
!C
No fault condition is present—there is no error
to clear
If you want the program to stop, you must
issue the
!HALT
command.
6
Kill Input Activated
(see
INFNCi-C
)
Goto
Deactivate the kill input.
7
User Fault Input Activated
(see
INFNCi-F
)
Goto
Deactivate the user fault input, or disable it by
assigning it a different
INFNC
function.
8
Stop Input Activated
(see
INFNCi-D
)
Goto
Deactivate the stop input, or disable it by
assigning it a different
INFNC
function.
9
Enable input not grounded
Goto
Re-ground the enable input, and issue a
DRIVE1
command.
10
Pre-emptive (on-the-fly)
GO
or
registration move profile not
possible at the time of attempted
execution.
Gosub
Issue another
GO
command.
11
GV6K Only:
Target Zone Timeout (
STRGTT
value has been exceeded).
Gosub
Issue these commands in this order:
STRGTEØ,
DØ,
GO,
STRGTE1
12
GV6K Only:
Exceeded Max. Allowable
Position Error (set with the
SMPER
command).
Gosub
Issue a
DRIVE1
command. Verify that
feedback device is working properly.
14
GOWHEN
condition already true
when
GO
,
FSHFC
, or
FSHFD
executed.
Goto
Issue another
GOWHEN
command; or issue a
!K
command and check the program logic
(use the
TRACE
and
STEP
features if
necessary).
16
Bad command detected.
Gosub
Issue the
TCMDER
command.
18
Expansion I/O brick disconnected,
or lost power. (Multi-tasking: This
condition also kills all tasks.)
Goto if
KIOEN1
Gosub if
KIOEN0
Reconnect I/O brick or restore power. Then
issue
ERROR.18-0
and then
ERROR.18-1
.
23
Ethernet Client connection error.
Gosub
Clear the error bit (
ERROR.23-0
), then re-
establish the Ethernet connection, and then
issue
ERROR.23-1
.
24
Ethernet Client polling failed.
Gosub
Clear the error bit (
ERROR.24-0
), then re-
establish the Ethernet connection, and then
issue
ERROR.24-1
.
Reserved Bits
: Bits 13, 15, 17, 19-22, and 25-32 are reserved.
Branching Types
: If the error condition calls for a GOSUB, then after the
ERRORP
program is executed,
program control returns to the point at which the error occurred. If you do not want to return to the point at
which the error occurred, you can use the
HALT
command to end program execution or you can use the
GOTO
command to go to a different program. If the error condition calls for a GOTO, there is no way to return
to the point at which the error occurred.
Commanded Kill or Stop
: When
ERROR
bit 5 is enabled (
ERROR.5-1
), a Stop (
S
or
!S
) or a Kill (
K
,
!K
or
<ctrl>K
) command will cause the Gem6K to branch to the error program. Note, however, that this error
condition does not set an error bit (
ER
), because there is no way to clear the error condition upon leaving the
error program. Therefore, you should use the
IF(ER=b00000000000000000000000000000000)
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