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Gemini GV6K and Gemini GT6K Programmer's Guide

Gemini GV6K and Gemini GT6K Programmer's Guide

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comm<strong>and</strong> which has motion data (e.g., A, V, D) is only affected if the task has been associated<br />

with motion via the TSKAX comm<strong>and</strong>. Any comm<strong>and</strong> listed below as affected by the % prefix<br />

may also accept the @ character as a task number; in this case, all tasks will be affected by the<br />

comm<strong>and</strong>.<br />

The response (if any) sent to the terminal by the comm<strong>and</strong> will be prefixed with the task<br />

number <strong>and</strong> % sign if the comm<strong>and</strong> had been executed by any task other than Task 0, the<br />

Supervisor Task. For comm<strong>and</strong>s executed in Task 1, if the comm<strong>and</strong> itself had the 1% prefix,<br />

then the response will also have the prefix. Otherwise, the response will not be prefixed.<br />

Therefore, if no multi-tasking is used, no responses will have task prefixes. If multi-tasking is<br />

used, however, you can determine which task originated the response. A response could be<br />

the result of a transfer comm<strong>and</strong> (e.g., TER), a comm<strong>and</strong> with no parameters (e.g. MC),<br />

TRACE output, or an error message.<br />

Comm<strong>and</strong>(s) Effect of % Prefix Effect of Multi-tasking<br />

GOTO, IF, ELSE, NIF,<br />

WHILE, NWHILE, REPEAT,<br />

UNTIL, L, LN, LX<br />

None (ignored)<br />

These comm<strong>and</strong>s direct program flow<br />

only on the task from which they are<br />

executed.<br />

GOSUB, RUN, ,<br />

JUMP, HALT, BP, PS, T,<br />

WAIT, C<br />

COMEXC, COMEXR, COMEXS<br />

Effectively inserts<br />

comm<strong>and</strong> into<br />

numbered task’s<br />

program<br />

Affects mode on<br />

numbered task<br />

S, K Specifies affected<br />

task only<br />

ERROR, ERRORP, TER,<br />

TERF, ER<br />

TCMDER, TSS, TSSF, SS,<br />

TSTAT<br />

TTIM, TIMINT, TIMST,<br />

TIMSTP, TIM<br />

TRACE, TRACEP, TEX,<br />

STEP, #<br />

ONCOND, ONIN, ONP, ONUS,<br />

ONVARA, ONVARB<br />

Affect/report on<br />

numbered task<br />

Report on numbered<br />

task<br />

Comm<strong>and</strong> refers to<br />

timer of numbered<br />

task<br />

Comm<strong>and</strong> refers to<br />

numbered task<br />

Comm<strong>and</strong> refers to<br />

numbered task<br />

These comm<strong>and</strong>s initiate, interrupt or<br />

continue program flow only on<br />

implicitly or explicitly specified task.<br />

These comm<strong>and</strong>s affect program flow<br />

only on implicitly or explicitly specified<br />

task.<br />

These comm<strong>and</strong>s affect program flow<br />

(depending on parameters given)<br />

only on implicitly or explicitly specified<br />

task. A “K” with no prefix or<br />

parameters kills all tasks.<br />

These comm<strong>and</strong>s affect/report error<br />

conditions <strong>and</strong> programs only on<br />

implicitly or explicitly specified task<br />

(each task has its own error status<br />

register <strong>and</strong> error program).<br />

These comm<strong>and</strong>s report comm<strong>and</strong><br />

errors <strong>and</strong> status only on implicitly or<br />

explicitly specified task.<br />

Each task has an independent timer.<br />

Also, TIMST0,# resets the timer to #<br />

msec., TIMST1,# restarts the timer<br />

with the TIM value of task #.<br />

Each task has its own trace <strong>and</strong> step<br />

mode. This allows tracing on a single<br />

task, or combined tasks comm<strong>and</strong>s.<br />

Each task has its own set of ON<br />

conditions <strong>and</strong> its own ONP program.<br />

LIMFNCi-C, LIMFNCi-D,<br />

LIMFNCi-E, LIMFNCi-F,<br />

LIMFNCi-P,<br />

INFNCi-C, INFNCi-D,<br />

INFNCi-E, INFNCi-F,<br />

INFNCi-P,<br />

INSELP, OUTFNCi-C<br />

Comm<strong>and</strong> refers to<br />

numbered task<br />

These functions are task specific. All<br />

others affect the entire controller <strong>and</strong><br />

cannot be affected by the % prefix.<br />

212 Gem6K Series Programmer’s <strong>Guide</strong>

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