Gemini GV6K and Gemini GT6K Programmer's Guide

Drive Setup
Drive Stall Detection (stepper only)
The DSTALL command determines if the encoderless stall feature will be checked as Drive
Stall indicator.
The state of the encoderless stall feature can be monitored at all times with Extended Axis
Status bit #17 (reported with TASX, TASF, and the ASX assignment/comparison operand).
When a Drive Stall is detected, the Gem6K responds as follows: (this response is the same as
that for Encoder Stall Detection, which is enabled with the ESTALL command)
• The stall is reported with Axis Status bit #12 (reported with TAS, TASF, and AS).
• If ERROR error-checking bit #1 is enabled (ERROR.1-1):
- The stall is reported with Error Status bit #1 (reported with TER, TERF, and ER).
- The Gem6K branches to the assigned ERRORP program.
• If the Kill-on-Stall feature is enabled (ESK1), the Gem6K immediately kills motion.
Drive Resolution (stepper only)
The drive resolution controls the number of steps the Gem6K controller considers as a full
revolution for the motor drive. The drive’s resolution is set with the DRES command (default
is 25,000 steps/rev).
Disable Drive On Kill (servo only)
Normally, when you issue a Kill command (K, !K, or K) or activate an input
configured as a kill input (see INFNCi-C or LIMFNCi-C command), motion is stopped at
the hard limit (LHAD/LHADA) deceleration setting and the drives are left in the enabled state
(DRIVE1).
However, your application may require you to disable (shut down or de-energize) the drives in
a Kill situation to, for example, prevent damage to the motors or other system mechanical
components. If so, set the controller to the Disable Drive on Kill mode with the KDRIVE1
command. In this mode, a kill command or kill input will shut down the drives immediately,
letting the motors free wheel (without control from the drives) to a stop.
66 Gem6K Series Programmer’s Guide