Gemini GV6K and Gemini GT6K Programmer's Guide

Letter Designator
Function
A .................General-purpose input (default function for onboard and expansion digital inputs
on I/O bricks)
B .................BCD program select
C .................Kill
D .................Stop
E .................Pause/Continue
F .................User fault
G .................
H .................Trigger Interrupt for position capture or registration (trigger inputs only). Special
trigger functions can be assigned with the TRGFN command (see page 166).
I .................Cause an “Alarm Event” over the Ethernet interface
J .................Jog in the positive-counting direction
K .................Jog in the negative-counting direction
L .................Jog velocity select
M .................Joystick release
O .................Joystick velocity select
P .................One-to-one program select
Q .................Program security
R .................End-of-travel limit for positive-counting direction *
S .................End-of-travel limit for negative-counting direction *
T .................Home limit *
* Limit inputs are factory-set to their respective end-of-travel or home limit function (see page 74).
NOTES
• Multi-tasking: If the LIMFNC or INFNC command does not include the task identifier (%) prefix,
the function affects the task that executes the LIMFNC or INFNC command. The only functions
that may be directed to a task with % are: C, D, E, F, and P (e.g., 2%INFNC3-F assigns onboard
input 3 as a user fault input for task 2). Multiple tasks may share the same input, but the input
may only be assigned one function.
Input Status
* The purpose of the IN
and LIM operators is to
use the state of the inputs
as a basis for conditional
statements (IF, REPEAT,
WHILE, GOWHEN, etc.) or
for binary variable
assignments (VARB). For
examples, refer to the
Conditional Looping and
Branching section on
page 25.
Below is a list of the status commands you may use to ascertain the current state and/or defined
function of the limit inputs (LIMFNC) and trigger and I/O brick inputs (INFNC).
Limit inputs (LIMFNC):
• Status display commands:
- LIMFNC.............. Active state and programmed function of all limit inputs
- LIMFNCi............ Same as LIMFNC display, but only for the input number (“i”)
- TLIM................... Hardware state of all limit inputs (binary report);
use TLIM.i to check the state of only one input (“i”)
• Status assignment/comparison operator: *
- LIM ..................... Hardware state (binary) of all limit inputs;
use LIM.i to check the state of only one input (“i”)
Trigger inputs and digital inputs on expansion I/O bricks (INFNC):
• Status display commands:
- TIO ..................... I/O brick configuration (which SIMs are present)
- INFNC ................ Active state and programmed function of all trigger inputs
- INFNCi.............. Same as INFNC display, but only for the trigger input number (“i”)
- INFNC ......... Active state and programmed function of all inputs on I/O brick B
- INFNCi....... Same as INFNC display, but only for the input number (“i”) on brick B
- TIN ..................... Hardware state of all onboard trigger inputs (binary report);
use TIN.i to check the state of only one input (“i”)
- TIN.............. Hardware state of all digital inputs on I/O brick B (binary report) ;
use TIN.i to check the state of only one input (“i”) on brick B
• Status assignment/comparison operator: *
- IN ................ Hardware state (binary) of triggers and expansion digital inputs;
use IN.i to check the state of only one input (“i”) on brick B
Chapter 3. Basic Operation Setup 95