270
Gemini GV6K/GT6K Command Reference
x). To make a comparison against a hexadecimal value, the letter h (h or H) must be placed in front of the
value. The hexadecimal value itself must only contain the letters A through F, or the numbers Ø through 9.
Syntax:
VARBn=<i%>SS
where “
n
” is the binary variable number, or
SS
can be used in an expression
such as
IF(SS=b11Ø1)
, or
IF(SS=h7F)
.
NOTE
: If you are using multi-tasking, be aware that
each task has its own system status register. If you wish to check the system status of an external
task (a task other than the task that is executing the
SS
operator), then you must prefix the
SS
operator to address the targeted task (e.g.,
2%SS
for the system status of Task 2).
The function of each system status bit is shown below.
BIT
(Left to Right)
Function
(
1
= yes,
Ø
= no)
BIT
(Left to Right)
Function
(
1
= yes,
Ø
= no)
1
System
Ready
17
Loading Thumbwheel Data (
TW
)
2
RESERVED
18
External Program Select Mode (
INSELP
)
3
Executing a Program (see
EXE
)
19
Dwell in Progress (
T
command)
4
Immediate Command (set if last
command was immediate)
20
Waiting for RP240 Data—
DREAD
or
DREADF
5
In ASCII Mode
21
RP240 Connected — current
PORT
setting only
6
In Echo Mode — current
PORT
setting only
22
Non-volatile Memory Error
7
Defining a Program
23
GV6K: Servo data gathering transmission
in progress:
GT6K: Reserved
8
In Trace Mode
24
Suspended on Swap (see
LOCK
)
9
In Step Mode
25
RESERVED
10
In Translation Mode
26
Suspended on COM1 (see
LOCK
)
11
Command Error Occurred (bit is
cleared when
TCMDER
is issued)
26
Suspended on COM2 (see
LOCK
)
12
Break Point Active (
BP
)
28
Program Pending (see
EXE
command)
13
Pause Active
29
Compiled memory is 75% full
14
Wait Active (
WAIT
)
30
Compiled memory is 100% full
15
Monitoring On Condition (
ONCOND
)
31 *
Compile operation failed (
PCOMP
) **
16
Waiting for Data (
READ
)
32
EXE Failed (see
EXE
command)
* Bit #31: failed
PCOMP
compile is cleared on power up,
RESET
, or after successful compile. Possible causes include:
•
Errors in profile design (e.g., change direction while at non-zero velocity; distance & velocity equate to < 1 count
per system update; preset move profile ends in non-zero velocity)
•
Profile will cause a Following error (see
TFSF
,
TFS
, or
FS
command descriptions)
•
Out of memory (see
SS
bit #30)
•
Axis already in motion at the time of the
PCOMP
command
•
Loop programming errors (e.g., no matching
PLOOP
or
PLN
; more than 4 embedded
PLOOP
/
END
loops)
•
PLCP
program contains invalid commands.
If it is desired to assign only one bit of the system status value to a binary variable, instead of all 32, the bit
select (
.
) operator can be used. For example,
VARB1=SS.12
assigns system status bit 12 to binary
variable 1:
*VARB1=XXXX_XXXX_XXXØ_XXXX_XXXX_XXXX_XXXX_XXXX
.
Example:
VARB1=SS
; System status assigned to binary variable 1
IF(SS=b111011X11)
; If the system status contains 1s in bit locations 1, 2, 3,
; 5, 6, 8, & 9, and a 0 in bit location 4, do the IF
;
statement
IF(SS=h7F00)
; If the system status contains 1s in bit locations 1, 2, 3,
; 5, 6, 7, & 8, and 0s in every other bit location, do the IF
;
statement
NIF
; End of second IF statement
NIF
; End of first IF statement
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