308
Gemini GV6K/GT6K Command Reference
General-purpose inputs on the
DRIVE I/O
connector:
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)
About Position Capture
: The master cycle position can be captured only by a trigger input that is defined as
“trigger interrupt” input with the
INFNCi-H
command (see
INFNC
command). When a “trigger interrupt”
input is activated, the master cycle position of the dedicated axis is captured and the position is available
through the use of the
PCMS
operator and the
TPCMS
display command.
Position Capture Status, Longevity of Captured Position
: Use the
TTRIG
and
TRIG
commands to
ascertain if a trigger interrupt input has been activated.
TTRIG
displays the status as a binary report, and
TRIG
is an assignment/comparison operator for using the status information in a conditional expression
(e.g., in an
IF
statement). Once the captured master cycle position value is reported with the
TPCMS
command, the
TTRIG
/
TRIG
status bit for that trigger input is cleared; but the position information remains
available until it is overwritten by a subsequent position capture from the same trigger input.
Position Capture Accuracy
: The master cycle position is interpolated; the capture accuracy is 50
µ
s
multiplied by the velocity of the axis at the time the trigger input was activated.
Scaling and Position Offset
: If scaling is enabled (
SCALE1
), the master cycle position is scaled by the
distance scaling factor (
SCLMAS
). If scaling is not enabled (
SCALEØ
), the value assigned will be actual
counts from the commanded or encoder master source as selected with the
FOLMAS
command. If you issue
a
PSET
(establish absolute position reference) command, any previously captured master cycle positions
will be offset by the
PSET
command value.
TPE
Transfer Position of Encoder/Resolver
Type
Transfer
Syntax
<a_><!>TPE
Units
Encoder or resolver counts, or scaled by SCLD
Range
n/a
Default
n/a
Response
TPE: *TPE+0
See Also
ENCCNT, ERES, [ FB ], [ PE ], PESET, PSET, SCALE, SCLD, SFB,
TFB, TPC, TPER
Product Rev
GT6K 6.0
GV6K 6.0
GV6K:
The
TPE
command reports the present feedback device position, based on the encoder/resolver
resolution (
ERES
).
GT6K:
If the
ENCCNT1
mode is enabled
TPE
reports the encoder position, but in
ENCCNT0
mode (the factory
default setting) the
TPE
report represents the commanded position.
UNITS OF MEASURE
and
SCALING
: refer to page
16
or to the
SCLD
command.
If you issue a
PSET
command, the encoder position value will be offset by the
PSET
command value. If you
are using a stepper axis in the
ENCCNT1
mode, use the
PESET
command instead.
The position error calculation is:
TPER
=
TPC
–
TPE
.
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