Command Descriptions
273
zone specified with
STRGTD
and
STRGTV
; this status bit is usable even if the Target Zone Mode is not
enabled (
STRGTE0
).
If the load does not settle into the target zone before the timeout period set by
STRGTT
, the Gem6K drive
detects an error (see
TASF
,
TAS
, or
AS
bit #25, and
TER
bit #11). If this error occurs, you can prevent
subsequent command and/or move execution by enabling bit #11 in the
ERROR
command to continually
check for this error condition, and when it occurs to branch to a programmed response defined in the
ERRORP
program. (Refer to the
ERRORP
command description for an example of using an error program.)
For more information on target zone operation, refer to the Programmer's Guide.
Example:
STRGTD5
; Sets the distance target zone to +/-5 units
STRGTV.01
; Sets the velocity target zone to <= 0.01 units/sec
STRGTT10
; Sets the timeout period to 10 milliseconds
STRGTE1
; Enables the target zone criteria
;
; Given these target zone commands, a move with a distance of, for example,
; 8,000 units (D8000) must end up between position 7,995 and 8,005 and settle
; to <=0.01 units/sec within 10 ms after the commanded profile is complete.
STRGTT
Target Settling Timeout Period
Type
Servo
Syntax
<a_><!>STRGTT<i>
Units
i = milliseconds
Range
0-5000
Default
1000
Response
STRGTT: *STRGTT1000
See Also
[ AS ], [ ER ], ERROR, ERRORP, STRGTD, STRGTE, STRGTV, TAS,
TER, TSTLT
Product Rev
GT6K n/a
GV6K 6.0
(applicable only to
servo axes)
STRGTT
sets the maximum time allowed for the load to settle within the defined target zone; exceeding this
time period will generate an error condition.This command is useful only if Target Zone Settling Mode is
enabled with the
STRGTE
command.
When using the Target Zone Settling Mode, the load's actual position (
TPE
) and actual velocity (
TVELA
)
must be within the
target zone
(that is, within the distance zone defined by
STRGTD
and within the velocity
zone defined by
STRGTV
) before motion can be determined complete. Axis status bit #24 (see
TASF
,
TAS
,
or
AS
) indicates when the axis is within the zone specified with
STRGTD
and
STRGTV
; this status bit is
usable even if the Target Zone Mode is not enabled (
STRGTE0
).
If the load does not settle into the target zone before the timeout period set by
STRGTT
, the Gem6K drive
detects an error (see
TASF
,
TAS
, or
AS
bit #25, and
TER
bit #11). If this error occurs, you can prevent
subsequent command and/or move execution by enabling bit #11 in the
ERROR
command to continually
check for this error condition, and when it occurs to branch to a programmed response defined in the
ERRORP
program. (Refer to the
ERRORP
command description for an example of using an error program.)
For more information on target zone operation, refer to the Programmer's Guide.
Example
(see
STRGTE
):
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