Gemini GV6K and Gemini GT6K Programmer's Guide

Program Debug Tools
After creating your programs, you may need to debug the programs to ensure that they
perform as expected. The Gem6K provides several debugging tools. Detailed descriptions
are provided on the following pages.
• Status Commands: Use the “Transfer” commands (e.g., TAS, TSS, TIN) to display
various controller status information. Multi-Tasking: System (TSS) and Error (TER)
status information is task specific; to check the status for a specific task, you must
prefix the status command with the task identifier (e.g., 2%TSS to check the system
status for task 2).
• Error Messages: You can enable the Gem6K to display error messages when it
detects certain programming errors as you enter them or as the program is run. When
the controller detects an error with a command, you can issue the TCMDER command to
find out which command caused the error.
• Trace mode: Trace a program as it is executing.
• Single-Step mode: Step through the program one command at a time.
• Break Points: Establish locations in your program, where command processing will
halt and a message will be transmitted to the PC.
• Simulate Programmable I/O Activation: You can set the desired state of the
Gem6K’s inputs and outputs via software commands.
• Simulate Analog Input Activation: Without an actual voltage present, you can
simulate a specific voltage on the Gem6K’s analog input channels using the ANIEN
command.
• Motion Planner’s Panel Gallery: Motion Planner’s Panel Gallery provides an
assortment of test panels you can use to verify various system I/O and operating
parameters.
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