Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
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12 Servos only: Exceeded Max. Allowable Position<br />
Error (set with the SMPER comm<strong>and</strong>).<br />
Gosub<br />
Issue a DRIVE1 comm<strong>and</strong> to the axis that<br />
exceeded the allowable position error. Verify that<br />
feedback device is working properly.<br />
14 GOWHEN condition was already true when the<br />
subsequent GO, GOL, FGADV, FSHFC, or FSHFD<br />
comm<strong>and</strong> was executed.<br />
Goto Issue another GOWHEN comm<strong>and</strong>; or issue a !K<br />
comm<strong>and</strong> <strong>and</strong> check the program logic (use the<br />
TRACE <strong>and</strong> STEP features if necessary).<br />
16 Bad comm<strong>and</strong> was detected. Gosub Issue the TCMDER comm<strong>and</strong> to I.D. the comm<strong>and</strong>.<br />
17 Encoder failure detected (EFAIL1 must be<br />
enabled before this error can be detected).<br />
18 Cable to an expansion I/O brick is disconnected,<br />
or power to the I/O brick is lost.<br />
23 Ethernet Client connection error. See the Ethernet<br />
Client section for additional details.<br />
24 Ethernet Client polling error. See the Ethernet<br />
Client section for additional details.<br />
Gosub<br />
Goto<br />
Gosub<br />
Gosub<br />
Reconnect the encoder while the axis is in the<br />
EFAIL1 mode.<br />
Reconnect I/O brick cable. Issue the ERROR.18-0<br />
comm<strong>and</strong> <strong>and</strong> then the ERROR.18-1 comm<strong>and</strong>.<br />
Reserved Bits: Bits 13, 15, 19-22 <strong>and</strong> 25-32.<br />
Branching Types: If the error condition calls for a GOSUB, then after the ERRORP program is executed, program control returns to the point<br />
at which the error occurred. To prevent a return to the point at which the error occurred, use the HALT comm<strong>and</strong> to end program execution or<br />
use the GOTO comm<strong>and</strong> to go to a different program. If the error condition calls for a GOTO, there is no way to return to the point at which the<br />
error occurred.<br />
Comm<strong>and</strong>ed Kill or Stop: When ERROR bit 5 is enabled (ERROR.5-1), a Stop (S or !S) or a Kill (K, !K or K) comm<strong>and</strong> will cause the<br />
controller to branch to the error program. Note, however, that this error condition does not set an error bit (ER), because there is no way to<br />
clear the error condition upon leaving the error program. Therefore, you should use the IF(ER=b00000000000000000000000000000000)<br />
statement in your error program to determine if the cause of the error was a comm<strong>and</strong>ed kill or stop (i.e., if no error bits are set).<br />
If ESTOP (ENABLE input) also cuts power to drives: This note is for systems in which power to the drives (not the Gem6K) is cut if the<br />
ENABLE input is opened. If you enable ERROR bit #9: When the ENABLE input is opened (<strong>and</strong> power is cut to the drives), the ERRORP<br />
program is called. Because the drives have lost power, the Gem6K will detect drive faults, which in turn kills the ERRORP program. If the<br />
ENABLE input is still ungrounded, the ERRORP program will again be called <strong>and</strong> then killed because of the drive fault condition (causing an<br />
endless loop). The resolution is to place the @DRFEN0 comm<strong>and</strong> in the ERRORP program so that it can disable checking the drive fault input<br />
<strong>and</strong> thereby circumvent the endless loop of calling the ERRORP program. Be sure to later re-enable drive fault checking with @DRFEN1 after the<br />
ENABLE input is re-grounded.<br />
Chapter 1. Programming Fundamentals 33
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