Gemini GV6K and Gemini GT6K Programmer's Guide

Trigger Functions (TRGFN)
MC0
; Set to preset move mode
D20
; Set distance end-point
COMEXC1
; Enable continuous command execution mode
V1
; Set velocity
A100
; Set acceleration
GOWHEN(IN.2=b1) ; Delay profile. When expression is true (input #2 is
; low) start motion.
GO
; Command to move. Motor will not start until
; conditions in the GOWHEN statement are true.
; Command processing does not wait, so other system
; functions may be performed.
The Trigger Functions command (TRGFN) allows you to assign additional functions to trigger
inputs that have been defined as “trigger interrupt” inputs (INFNCi-H):
TRGFNc bb
Start New Master Cycle (FMCNEW) function
Conditional GO (GOWHEN) function
Trigger letter. Two triggers are available (A or B).
The “Master Trigger” (letter M) may also be used.
• “Conditional GO” Function (TRGFNc1x): Suspend execution of the next start-motion
command until specified trigger input “c” goes active. Start-motion commands are listed
below. Refer to page 163 or to the GOWHEN command description for additional details.
- GO (standard command to begin motion)
- FGADV (begin geared advance – for Following motion)
- FSHFC (begin continuous shift – for Following motion)
- FSHFD (begin preset shift – for Following motion)
Axis status bit #26 (reported with TASF, TAS, or AS) is set to one (1) when there is a
pending “Conditional GO” condition initiated by a TRGFN command; this bit is cleared
when the trigger is activated or when a stop command (S) or a kill command (K) is issued.
If you need execution to be triggered by other factors (e.g., input state, master position,
encoder position, etc.) use the GOWHEN command.
• “New Master Cycle” Function (TRGFNcx1): This is equivalent to executing the FMCNEW
command. When specified trigger input “c” goes active, the controller begins a new
Following master cycle. For more information on master cycles, refer to page 182 or to
the FMCNEW command description.
These trigger functions are cleared once the function is complete (trigger input is activated). To
use the trigger to perform a GOWHEN function again, the TRGFN command must be given again.
Sample
Gem6K Code
INFNC1-H
INFNC2-H
TRGFNBx1
TRGFNB1x
GO1
; Define input #1 (TRG-A) as a trigger interrupt input
; Define input #2 (TRG-B) as a trigger interrupt input
; When TRG-1B goes active, motor will begin a new
; master cycle
; When TRG-2B goes active, motor will execute the move
; commanded with the GO command.
; The move is commanded, but will not execute
; until trigger 2B goes active.
166 Gem6K Series Programmer’s Guide