Gemini GV6K and Gemini GT6K Programmer's Guide

The table below summarizes the restrictions on pre-emptive GOs.
Condition
Execute GO during MC1 & FOLENØ
Execute GO during MC1 & FOLEN1
Execute GO during MCØ & FOLENØ
Execute GO during MCØ & FOLEN1
Change MC setting during motion
Change ENC setting during motion
Change FOLENØ to FOLEN1 during motion
Change FOLEN1 to FOLENØ during motion
Possible
Yes
Yes
Yes
No
Yes (but cannot change MC1 to MCØ during FOLEN1)
No
No
Only while MC1, constant ratio, and not shifting
OTF Error Conditions
The ability to change the goal position on the fly raises the possibility of several error
conditions:
Further instructions
about handling error
conditions are provided
on page 30.
Error Conditions
The new position goal of an on-the-fly
GO cannot be reached with the
current direction, velocity, and decel.
Set axis status
bit #30
Gem6K Response
Set error
status bit #10
Kill motion (decelerate
at the LHAD value)
YES YES NO
The direction of the new goal position
is opposite that of current travel YES YES YES
There has not yet been an overshoot,
but it is not possible to decelerate to YES YES YES
the new distance from the current
velocity using the specified AD value.
RELATED STATUS COMMANDS
Axis Status — Bit #30: (this status bit is cleared with the next GO command)
AS.30 ....Assignment & comparison operator — use in a conditional expression (see pg. 25).
TASF ......Full text description of each status bit. (see “Preset Move Overshot” line item)
TAS ........Binary report of each status bit (bits 1-32 from left to right). See bit #30.
Error Status — Bit #10: The error status is monitored and reported only if you enable errorchecking
bit #10 with the ERROR command (e.g., ERROR.1Ø-1). NOTE: When the error occurs, the
controller with branch to the error program (assigned with the ERRORP command). (this status bit is
cleared with the next GO command)
ER.10 ....Assignment & comparison operator — use in a conditional expression (see pg. 25).
TERF ......Full text description of each status bit. (see “Preset Move Overshot” line item)
TER ........Binary report of each status bit (bits 1-32 from left to right). See bit #10.
Scenarios
Scenario #1: OTF change of velocity and
distance, where new commanded distance (D 2 ) is
greater than the original distance (D 1 ) that was
pre-empted [D 2 >D 1 ]. The distances are the areas
under the profiles, starting at t 0 for both. If the
original move had continued, D 1 would have been
reached at time t 1 . D 2 is reached at time t 2 .
156 Gem6K Series Programmer’s Guide