Gemini GV6K and Gemini GT6K Programmer's Guide

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Programming Fundamentals 1C HAPTER ONE Programming Fundamentals IN THIS CHAPTER This chapter is a guide to general Gem6K programming tasks. It is divided into these main topics: • Motion Planner programming environment ......................... 2 • Restricted commands during motion ............................ 17 • Command syntax.................................................................. 4 • Using Variables ............................................................ 18 • Creating programs................................................................ 10 • Program flow control.................................................... 23 • Storing programs.................................................................. 10 • Program interrupts ........................................................ 29 • Executing programs ............................................................. 13 • Error handling............................................................... 30 • Creating and executing a set-up program ............................. 13 • Non-volatile memory.................................................... 35 • Program Security.................................................................. 14 • System performance considerations.............................. 35 • Controlling execution – programs & command buffer......... 14
Page 1 and 2: p/n 88-019934-01 A Automation Gemin
Page 3 and 4: CONTENTS OVERVIEW..................
Page 5: Multi-Tasking Performance Issues ..
Page 8 and 9: Programming Examples Reference Docu
Page 12 and 13: Motion Planner Programming Environm
Page 14 and 15: Command Syntax Introduction Sample
Page 16 and 17: General Guidelines for Syntax Guide
Page 18 and 19: * denotes operators that have a cor
Page 20 and 21: Creating Programs Reminder: The Mot
Page 22 and 23: The table below identifies memory a
Page 24 and 25: Program Security Issuing the INFNCi
Page 26 and 27: COMEXS (Save Command Buffer on Stop
Page 28 and 29: Variables Gem6K Series controllers
Page 30 and 31: Trigonometric Operations The exampl
Page 32 and 33: Using Binary Variables The followin
Page 34 and 35: NOTE Be careful about performing a
Page 36 and 37: Expression (VAR1, >=,
Page 38 and 39: UNTIL(IN=b1110 OR VAR5>10) ; When i
Page 40 and 41: Error Handling Wizards can help: Mo
Page 42 and 43: Canceling the Branch to the Error P
Page 44 and 45: Error Program Set-up Example The fo
Page 47 and 48: Communication 2C HAPTER TWO Communi
Page 49 and 50: Ethernet Networking Overview The Ge
Page 51 and 52: • Combination of server and clien
Page 53 and 54: command, then the RESET command (th
Page 55 and 56: to ARP the Gem6K controller, thereb
Page 57 and 58: Each unit will re-broadcast its upd
Page 59 and 60: n \ m NTIO Example Program Interac
Page 61 and 62:
Example 172.20.34.150, then the com
Page 63 and 64:
Example NTADDR172,34,54,123 ; Set t
Page 65 and 66:
Error Response SEE NTIO INVALID SER
Page 67 and 68:
Setup for Gem6K Language or RP240 S
Page 69 and 70:
unit, the ERRLVL1 command should be
Page 71:
1_PORT2........... Subsequent comma
Page 74 and 75:
Before You Begin WARNING The Gem6K
Page 76 and 77:
Drive Setup Drive Stall Detection (
Page 78 and 79:
Acceleration & Deceleration Scaling
Page 80 and 81:
Scaling Example — Steppers User h
Page 82 and 83:
Preset Positioning Mode Incremental
Page 84 and 85:
Linear Motion All Gemini drives ope
Page 86 and 87:
Conversion Example Using a Parker 4
Page 88 and 89:
How to set up software end-of-trave
Page 90 and 91:
Figures A and B show the homing ope
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Negative Homing, Backup to Home Ena
Page 94 and 95:
Encoder-Based Stepper Operation (st
Page 96 and 97:
Position Mode Tuning Procedure Prim
Page 98 and 99:
Lag Filter Adjustment Procedure The
Page 100 and 101:
Programmable Inputs and Outputs (on
Page 102 and 103:
Digital Inputs (“DRIVE I/O” con
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Input Functions Programmable input
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Input Active Levels Many people ref
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Kill • LIMFNCi-C • INFNCi-C Whe
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INFNC17-H command. When a Trigger I
Page 112 and 113:
Example Step 1 Define program for j
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Program Security • LIMFNCi-Q •
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Output Status Below is a list of th
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Limit Encountered (OUTFNCi-D) When
Page 120 and 121:
Variable Arrays (teaching variable
Page 122 and 123:
Summary of Related Gem6K Series Com
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Step 4 Define the DOPATH Subroutine
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Safety Features WARNING The Gem6K P
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Programmable I/O Devices Programmab
Page 130 and 131:
PLC Scan Mode Scan Time To check ho
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conditionals is from left to right.
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port for Gem6K commands. DRPCHK3 ..
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126 Gem6K Series Programmer’s Gui
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Status Reports: System & Axis
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Changing the Password: The default
Page 142 and 143:
Setup Code (the drawing below shows
Page 144 and 145:
Graphical User Interface (GUI) Deve
Page 146 and 147:
S-Curve Profiling Controllers allow
Page 148 and 149:
Calculating Jerk Zero Acceleration
Page 150 and 151:
NOTES • During compilation (PCOMP
Page 152 and 153:
PCOMP ; Compile profile #7, but ins
Page 154 and 155:
(FOLENØ) segments in that the ramp
Page 156 and 157:
Related Commands GOBUF Store a Moti
Page 158 and 159:
VAR4 = DREAD ; Get # of windings 1s
Page 160 and 161:
Program Modification Let’s now mo
Page 162 and 163:
; Program second constant ratio FOL
Page 164 and 165:
Finally, we need to design a segmen
Page 166 and 167:
The table below summarizes the rest
Page 168 and 169:
Program (portion only) VAR1=0 ; Ini
Page 170 and 171:
Preventing Unwanted Registration Mo
Page 172 and 173:
Registration — Sample Application
Page 174 and 175:
GOWHEN Syntax
Page 176 and 177:
Trigger Functions (TRGFN) MC0 ; Set
Page 178 and 179:
Ratio Following - Introduction As p
Page 180 and 181:
Implementing Ratio Following This s
Page 182 and 183:
Following a Virtual Master The Gem6
Page 184 and 185:
Define the Master and Follower Scal
Page 186 and 187:
Continuous Positioning Mode Moves F
Page 188 and 189:
Performing Phase Shifts Following S
Page 190 and 191:
FSHFD Example In this example, the
Page 192 and 193:
Master Cycle Concept Ratio Followin
Page 194 and 195:
Transfer and Assignment/ Comparison
Page 196 and 197:
Technical Considerations for Follow
Page 198 and 199:
The bandwidth of the low-pass filte
Page 200 and 201:
Resolution of the Master; Resolutio
Page 202 and 203:
GO1 command will not actually be co
Page 204 and 205:
continuous cyclical follower profil
Page 206 and 207:
travel had not finished the previou
Page 208 and 209:
Following Commands Detailed informa
Page 210 and 211:
Page 212 and 213:
Introduction to Multi-Tasking What
Page 214 and 215:
GEM6K Resources Supervisor Program
Page 216 and 217:
Interaction Between Tasks A new tas
Page 218 and 219:
Tasks Refer to page 210 for more de
Page 220 and 221:
Using Gem6K Resources While Multi-T
Page 222 and 223:
command which has motion data (e.g.
Page 224 and 225:
Multi-Tasking Performance Issues Wh
Page 226 and 227:
Page 228 and 229:
Troubleshooting Basics When your sy
Page 230 and 231:
Diagnostic LEDs: All other LED stat
Page 232 and 233:
Status Commands Status commands are
Page 234 and 235:
TASXF Reports extended axis-specifi
Page 236 and 237:
TSSF Reports current system conditi
Page 238 and 239:
List of All Status Commands SPECIAL
Page 240 and 241:
Programming Error Messages (continu
Page 242 and 243:
Identifying Bad Commands To facilit
Page 244 and 245:
Now we’ll enable the TRACEP mode
Page 246 and 247:
Outputs Step 1 Step 2 Step 3 Step 4
Page 248 and 249:
Technical Support For solutions to
Page 250 and 251:
programmable inputs 94 programmable
Page 252 and 253:
setup program tool 13 move completi
Page 254:
programmed conditional GO (GOWHEN)
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