156
Gemini GV6K/GT6K Command Reference
HOMVF
Home Final Velocity
Type
Homing
Syntax
<a_><!>HOMVF<r>
Units
r = units/sec (scalable with SCLV)
(linear motors: see DMEPIT linear/rotary conversion)
Range
Stepper Axes: 0.0000-60.0000 (after conversion to revs/sec)
Servo Axes:
0.0000-200.0000 (after conversion to revs/sec;
if ERES > 10,000, maximum = 2,000,000/ERES)
Default
0.1000
Response
HOMVF: *HOMVF0.1000
See Also
DMEPIT, HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF,
HOMEDG, HOMV, HOMZ, SCALE, SCLV
Product Rev
GT6K 6.0
GV6K 6.0
The
HOMVF
command specifies the velocity to use when the home algorithm does its final approach. This
command is only operational when backup to home (
HOMBAC
) is enabled, or when homing to an encoder Z
channel (
HOMZ
).
The velocity remains set until you change it with a subsequent home final velocity command. Velocities
outside the valid range are flagged as an error, with a message
*INVALID
DATA-FIELD
x
, where
x
is the
field number. When an invalid velocity is entered, the previous velocity value is retained.
UNITS OF MEASURE
and
SCALING
: refer to page
16
.
Example
: Refer to the go home (
HOM
) command example.
HOMZ
Home to Encoder Z-channel Enable
Type
Homing
Syntax
<a_><!>HOMZ<b>
Units
n/a
Range
b = 0 (disable) or 1 (enable)
Default
0
Response
HOMZ: *HOMZ0
See Also
[
ASX
], HOM, HOMA, HOMAA, HOMAD, HOMADA, HOMBAC, HOMDF,
HOMEDG, HOMV, HOMVF, INFNC, INLVL, TASX
Product Rev
GT6K 6.0
GV6K 6.0
The
HOMZ
command enables homing to an encoder z-channel after the initial home input has gone active.
NOTE: The home limit input is required to go active prior to homing to the Z channel. The state of the Z-
channel is reported with bit 6 of the
ASX
and
TASX
register.
Example
: Refer to the go home (
HOM
) command example.
IF( )
IF Statement
Type
Program
Flow
Control
or
Conditional
Branching
Syntax
<a_><!>IF(expression)
Units
n/a
Range
Up
to
80
characters
(including
parentheses)
Default
n/a
Response
n/a
See Also
ELSE,
NIF
Product Rev
GT6K 6.0
GV6K 6.0
The
IF
command is used in conjunction with the
ELSE
and
NIF
commands to provide conditional
branching. If the expression contained within the parenthesis of the
IF
command evaluates true, then the
commands between the
IF
and the
NIF
are executed. If the expression evaluates false, the commands
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