Gemini GV6K and Gemini GT6K Programmer's Guide

Status and Assignment Commands:
TASF, TAS & [ AS ]......Bit 26 of each axis status is set (1) if a motion profile suspended by a GOWHEN (including TRGFNc1x) is
pending on that axis. The bit is cleared when the GOWHEN is true, or when a stop (S) or kill (K) command is
executed.
TERF, TER & [ ER ]......Bit 14 is set if the GOWHEN condition is already true when a subsequent GO, GOL, FGADV, FSHFC, or
FSHFD command is given. (The corresponding error-checking bits must be enabled with the ERROR
command before the error will be detectable.)
TFSF, TFS & [ FS ]......Transfers or assigns/compares the Following status or each axis.
TNMCY and [ NMCY ] ....Transfers or assigns the current master cycle number.
TPCMS and [ PCMS ] ....Transfers or assigns the current captured master cycle position.
TPMAS and [ PMAS ] ....Transfers or assigns the current master cycle position.
TPSHF and [ PSHF ] ....Transfers or assigns the net position shift since constant ratio.
TPSLV and [ PSLV ] ....Transfers or assigns the follower's current commanded position.
TVMAS and [ VMAS ] ....Transfers or assigns the current velocity of the master axis.
WAIT .............................A WAIT command suspends program execution until the specified conditional statement (based on PMAS,
FS, NMCY, PCMS, PSHF, PSLV, or VMAS) is true;
WAIT(SS.i=b1) suspends program execution until a trigger input is activated (“i” is the input bit number
corresponding to the trigger input—refer to the Gem6K Series Command Reference).
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