Gemini GV6K and Gemini GT6K Programmer's Guide

Input Active Levels
Many people refer to a voltage level when referencing the state of programmable inputs and
outputs. Using LIMLVL (for limit inputs) and INLVL (for triggers and I/O brick inputs), you
can define the logic levels of the programmable inputs as positive or negative. The Gem6K
product defaults to an input level of zero volts as its active level (referred to as “active low”);
thus, a “1” will appear in a status command (TLIM & LIM, or TIN & IN) referencing an input
state when the voltage level is zero volts.
Active Level Setting State LIM/TLIM or IN/TIN Report
Active Low, the default setting
• LIMLVL0 for limits
• INLVL0 for triggers/I/O bricks
Active High
• LIMLVL1 for limits
• INLVL1 for triggers/I/O bricks
Grounded — sinking current
(device drive the input is on)
------------------------------------------------
Not Grounded — not sinking current
(device drive the input is off)
Grounded — sinking current
(device drive the input is on)
------------------------------------------------
Not Grounded — not sinking current
(device drive the input is off)
1 (active)
--------------------------------------
-
0 (inactive)
0 (inactive)
--------------------------------------
-
1 (active)
Input Debounce
Time
Using the INDEB command, you can change the input debounce time for programmable
inputs. The debounce is the period of time that the input must be held in a certain state before
the controller recognizes it. This directly affects the rate at which the inputs can change state
and be recognized. The default setting is 4 ms. For example, to set the debounce for all digital
inputs on I/O brick 2 to 5 ms, use the 2INDEB6 command.
Exception for Trigger Inputs: For trigger inputs that are assigned the “Trigger Interrupt”
function (INFNCi-H), the debounce is instead governed by the TRGLOT setting. The TRGLOT
setting applies to all trigger inputs defined as “Trigger Interrupt” inputs. The TRGLOT debounce
time is the time required between a trigger’s initial active transition and its secondary active
transition. This allows rapid recognition of a trigger, but prevents subsequent bouncing of the
input from causing a false position capture. The default TRGLOT setting is 24 ms.
Limit Inputs. The limit inputs found on the connectors are not normally debounced; however,
if a limit is assigned a different function with the LIMFNC command (other than LIMFNCi-R,
LIMFNCi-S, or LIMFNCi-T), the input is debounced using the INDEB setting for the on-board
trigger inputs (I/O brick 0). If a I/O brick input or an onboard trigger input is assigned a limit
input function (INFNCi-R, INFNCi-S, or INFNCi-T), the input will not be debounced.
“General Purpose”
• LIMFNCi-A
• INFNCi-A
This is the default function for INFNC inputs (onboard digital inputs and I/O brick inputs).
When an input is defined as a General Purpose input, the input is used as a standard input.
You can then use this input to synchronize or trigger program events, through the use of the
LIM or IN operator.
Example DEL prog1 ; Precaution: Delete a program before defining it
DEF prog1 ; Begin definition of program prog1
INFNC1-A ; No function (general purpose) for input 1
INFNC2-A ; No function (general purpose) for input 2
INFNC3-D ; Input 3 is a stop input
A10
; Set acceleration
V10
; Set velocity
D5
; Set distance
WAIT(IN=b1XX) ; Wait for onboard input 1
GO
; Initiate motion
IF(IN=bX1) ; If onboard input 2
TFB
; Transfer feedback device position
NIF
; End IF statement
END
; End definition of program prog1
96 Gem6K Series Programmer’s Guide