314
Gemini GV6K/GT6K Command Reference
To update your drive operating system:
The operating system file is located in the software download
section of the
Compumotor Online
web site (
http://www.compumotor.com
). Download the file to your hard
drive and follow the relevant download procedure:
•
Motion Planner users: refer to page
6
.
•
Communications Server (COM6SRVR.EXE) users: use the SendOS method described on page
6
.
TRGFN
Trigger Functions
Type
Inputs; Following; Motion
Syntax
<a_><!>TRGFNcbb
Units
c = trigger input letter
1
st
b = bit to select Conditional GO (GOWHEN) function
2
nd
b = bit to select Start New Master Cycle (FMCNEW) function
Range
c = A, B, or M (M is master trigger, “TRG-M”)
b = 0 (disable function), 1 (enable function),
or X (leave unchanged)
Default
c = A; b = 0
Response
TRGFN *TRGFNA00
See Also
[ AS ], ERROR, ERRORP, FMCNEW, GOWHEN, INFNC, [ SS ], TAS,
TRGLOT, TSS, [ TRIG ], TTRIG
Product Rev
GT6K 6.0
GV6K 6.0
Use the
TRGFN
command to assign certain command functions to the trigger 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)
NOTE
The input used in this command must first be defined as a
Trigger Interrupt
input with the
INFNCi-H
command.
•
“
Conditional GO
” Function (
TRGFNc1x
): Suspend execution of the next start-motion command until
the specified trigger input goes active. Start-motion commands are:
-
GO
(standard command to begin motion)
-
FGADV
(begin geared advance – for Following motion)
-
FSHFC
(begin continuous shift – for Following motion)
-
FSHFD
(begin preset shift – for Following motion)
Axis status bit #26 (reported with
TASF
,
TAS
, or
AS
) is set to one (
1
) when there is a pending
“Conditional GO” condition initiated by a
TRGFN
command; this bit is cleared when the trigger is
activated or when a stop command (
S
) or a kill command (
K
) is issued. If you need execution to be
triggered by other factors (e.g., input state, master position, encoder position, etc.) use the
GOWHEN
command.
•
“
New Master Cycle
” Function (
TRGFNcx1
): This is equivalent to executing the
FMCNEW
command.
When the specified trigger input goes active, the drive begins a new Following master cycle. For
more information on master cycles, refer to the Following chapter in the
Programmer’s Guide
.
These trigger functions are cleared once the function is complete. To use the trigger to perform another
conditional Go or begin a new master cycle, the
TRGFN
command must be given again.
TRGFN
in Compiled Motion
: When used in a compiled program, a
TRGFNc1x
(conditional
GO
function)
command will pause the profile in progress (motion continues at constant velocity) until the trigger is
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