Gemini GV6K and Gemini GT6K Programmer's Guide

Enabling Error Checking
To detect and respond to the error conditions noted above, the corresponding error-checking
bit(s) must be enabled with the ERROR command (refer to the ERROR Bit # column in the
table below). If an error condition occurs and the associated error-checking bit has been
enabled with the ERROR command, the Gem6K controller will branch to the error program.
For example, if you wish the Gem6K controller to branch to the error program when a
hardware end-of-travel limit is encountered (error bit #2) or when a drive fault occurs (error
bit #4), you would issue the ERRORØ1Ø1 command to enable error-checking bits #2 and #4.
MULTI-TASKING
If you are operating multiple tasks, be aware that you must enable error conditions (ERROR) and
specify an error program (ERRORP) for each task (e.g., 2%ERROR.2-1 and 2%ERRORP FIX for
Task 2). Each task has its own error status register (reported with ER, TER, and TERF).
Regarding axis-related error conditions (e.g., drive fault, end-of-travel limit, etc.), only errors on
the task’s associated (TSKAX) axes will cause a branch to the task’s ERRORP program.
☞ Helpful Hint:
Within the structure of your error program, you can use the IF and ER
commands to check which error caused the call to the ERRORP program
and respond accordingly.
Defining the Error Program
The purpose of the error program is to provide a programmed response to certain error
conditions (see list above) that may occur during the operation of your system. Programmed
responses typically include actions such as shutting down the drive(s), activating or deactivating
outputs, etc. Refer to the error program set-up example below.
Using the ERRORP command, you can assign any previously defined program as the error
program. For example, to assign a previously defined program named CRASH as the error
program, enter the ERRORP CRASH command. To un-assign a program from being the error
program, issue the ERRORP CLR command (e.g., as in this example, it does not delete the
CRASH program, but merely unlinks it from its assignment as the error program).
Chapter 1. Programming Fundamentals 31