Gemini GV6K and Gemini GT6K Programmer's Guide

Following Commands
Detailed information about these commands is provided in the
Gem6K Series Command Reference.
ANIMAS ........................Assigns an analog input to be used as a master in a FOLMAS assignment (requires a ANI SIM located on an
expansion I/O brick).
ERROR...........................Enable bit #14 to check for when a GOWHEN condition is already true when a subsequent GO, GOL, FGADV,
FSHFC, or FSHFD command is given.
ERRORP ........................ If ERROR bit #14 is enabled, a GOSUB branch to the error program occurs if a GOWHEN condition is already
true when a subsequent GO, GOL, FGADV, FSHFC, or FSHFD command is given.
FFILT...........................Sets the bandwidth for master position filtering.
FGADV...........................Defines the geared advance distance.
FMAXA...........................Stepper axes only: Sets the max. acceleration a follower may use while Following.
FMAXV...........................Stepper axes only: Sets the max. velocity at which a follower may travel.
FMCLEN ........................Defines the length of the master cycle.
FMCNEW ........................Restarts new master cycle counting immediately. To make this a trigger-based operation instead of issuing
the FMCNEW command, use the TRGFNcx1 command.
FMCP.............................Defines the initial position of a new master cycle.
FOLEN...........................Enables or disables Following mode.
FOLK.............................Allows drive fault or maximum position error to disable drive without killing the Following profile.
FOLMAS ........................Defines master for follower.
FOLMD...........................Defines the master distance over which ratio changes or moves are to take place.
FOLRD...........................Establishes the DENOMINATOR ONLY for the max. follower-to-master ratio for a preset move or the final
ratio for a continuous move (use in combination with the FOLRN command).
FOLRN...........................Establishes the NUMERATOR ONLY for the max. follower-to-master ratio for a preset move or the final
ratio for a continuous move (use in combination with the FOLRD command).
FPPEN...........................Allows master position prediction to be enabled or disabled.
FSHFC...........................Allows continuous advance or retard (shift) of follower position during continuous Following moves.
FSHFD...........................Allows preset advance or retard (shift) of follower position during continuous Following moves.
FVMACC ........................Establishes the rate at which the virtual master count frequency (FVMFRQ) may change for an axis.
FVMFRQ ........................Defines the frequency of the virtual master count.
GOWHEN ........................ A GOWHEN command suspends execution of the next follower move until the specified conditional statement
(based on T, IN, LIM, PC, PE, PMAS, PSLV, or PSHF) is true. To make this a trigger-based operation
instead of issuing the GOWHEN command, use the TRGFNc1x command.
SCLD.............................Sets the follower distance scale factor.
SCLMAS ........................Sets the master scale factor.
SINAMP ........................Defines the amplitude of the internal sine wave.
SINANG ........................Defines the phase angle of the internal sine wave.
SINGO...........................Initiates the internal sine wave.
TRGFN...........................aTRGFNc1x initiates a GOWHEN. Suspends execution of the next follower move on follower axis (a) until the
specified trigger input (c) goes active.
aTRGFNcx1 allows master cycle counting to be restarted on axis (a) when the specified trigger input (c)
goes active.
198 Gem6K Series Programmer’s Guide