Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
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Limit Encountered<br />
(OUTFNCi-D)<br />
When assigned the Limit Encountered function, the output will activate when a hard or soft<br />
end-of-travel limit has been encountered.<br />
If a hard or soft limit is encountered, you will not be able to move the motor/load in that same<br />
direction until you clear the limit by changing direction (D) <strong>and</strong> issuing a GO comm<strong>and</strong>. (An<br />
alternative is to disable the limits with the LHØ comm<strong>and</strong>, but this is recommended only if the<br />
motor is not coupled to the load.) The event of encountering an end-of-travel limit is also<br />
reported with axis status bits 15-18 (see TASF, TAS <strong>and</strong> AS comm<strong>and</strong>s, summary on page 222).<br />
Stall Indicator<br />
(OUTFNCi-E)<br />
Stepper Axis Only<br />
When assigned the Stall Indicator function, the output will activate when a stall is detected. To<br />
detect a stall, you must first connect an encoder <strong>and</strong> enable stall detection with the ESTALL1<br />
comm<strong>and</strong>. Refer to Encoder-Based Stepper Operation on page 84 for further discussion on<br />
stall detection.<br />
Fault Output<br />
(OUTFNCi-F)<br />
When assigned the Fault Output function, the output will activate when either the user fault<br />
input or the drive fault input becomes active. The user fault input is a general-purpose input<br />
defined as a user fault input with the LIMFNCi-F or INFNCi-F comm<strong>and</strong> (see page 99).<br />
Maximum Position<br />
Error Exceeded<br />
(OUTFNCi-G)<br />
Servos Only<br />
When assigned the Max. Position Error Exceeded function, the output will activate when the<br />
maximum allowable position error, as defined with the SMPER comm<strong>and</strong>, is exceeded.<br />
The position error (TPER) is defined as the difference between the comm<strong>and</strong>ed position (TPC)<br />
<strong>and</strong> the actual position as measured by the feedback device (TFB). When the maximum<br />
position error is exceeded (usually due to lagging load, instability, or loss of position<br />
feedback), the controller shuts down the drive <strong>and</strong> sets error status bit #12 (reported by the<br />
TERF, TER <strong>and</strong> ER comm<strong>and</strong>s if bit #12 of the ERROR comm<strong>and</strong> is enabled).<br />
NOTE<br />
If the SMPER comm<strong>and</strong> is set to zero (SMPERØ — the default value), the position error will not<br />
be monitored; thus, the Maximum Position Error Exceeded function will not be usable.<br />
108 Gem6K Series Programmer’s <strong>Guide</strong>
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