Gemini GV6K and Gemini GT6K Programmer's Guide

Pause/Continue
• LIMFNCi-E
• INFNCi-E
An input defined as a Pause/Continue input will affect motion and program execution
depending on the COMEXR command setting, as described below. In both cases, when the
input is activated, the current command being processed will be allowed to finish executing
before the program is paused.
COMEXRØ: Upon receiving a pause input, only program execution will be paused; any motion
in progress will continue to its predetermined destination. Releasing the pause
input or issuing a !C command will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be paused;
the motion stop function is used to halt motion. Releasing the pause input or
issuing a !C command will resume motion and program execution. You cannot
resume program execution while the move in progress is decelerating.
User Fault
• LIMFNCi-F
• INFNCi-F
An input defined as a User Fault input acts as an immediate Kill (!K) command, stopping
motion and terminating program execution. Motion is stopped at the rate set with the hard limit
(LHAD & LHADA) commands.
If error-checking bit #7 is enabled (e.g., ERROR.7-1), then a user fault input will cause a
branch to the ERRORP error program (for more information, see Error Handling on page 30)
and the occurrence of a user fault input will be reported by error bit #7 (see TERF, TER and ER
commands).
Trigger Interrupt
(INFNCi-H)
This function is available only for onboard trigger inputs. Any trigger input may be defined
as a Trigger Interrupt input and can be used for these functions:
• Position Capture (see below)
• Special trigger functions assigned with the TRGFN command (see below)
• Registration (see discussion on page 159)
Notes About Trigger Interrupt Inputs
• The trigger interrupt input is debounced for 24 ms (default) before another input on the
same trigger is recognized. If your application requires a different debounce time, you can
change it with the TRGLOT command (refer to Input Debounce Time on page 96).
• When configured as Trigger Interrupts, the triggers cannot be affected by the input enable
(INEN) command.
• Status: 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). Each TTRIG/TRIG bit is cleared when the
respective captured position value is read with the PCC, PCE, PCME, PCMS, TPCC, TPCE,
TPCME, or TPCMS commands, but the position information is still available from the
respective register until it is overwritten by a subsequent position capture by the same
trigger input.
Position Capture
The Gem6K has two dedicated trigger inputs, referred to as “TRIG-A” and “TRIG-B.” These
trigger inputs are located on the DRIVE/10 connector. When either trigger input (TRIG-A or
TRIG-B) is assigned the Trigger Interrupt function, activating the input performs a hardware
capture of the position. If the Gem6K is used as a follower in Following, activating the trigger
also performs an interpolated capture of the associated master axis position.
An additional trigger, labeled “TRIG-M”, may be used to perform a hardware capture of the
Master Encoder (the encoder connected to the “MASTER ENCODER” connector), as well as the
motor position (encoder position on servo axes; commanded or encoder position for steppers,
depending on the ENCCNT setting). To assign TRIG-M as a trigger interrupt input, use the
Chapter 3. Basic Operation Setup 99