Gemini GV6K and Gemini GT6K Programmer's Guide

Step 4
Define the DOPATH Subroutine.
DEF DOPATH ; Begin definition of the subroutine called DOPATH
HOM1
; Move to the home position
; (absolute counters set to zero)
A5Ø
; Set up the acceleration
V3
; Set up the velocity
DATPTR1,1,1 ; Select data program #1 (DATP1) as the current active
; data program, and set the data pointer to the first
; data element. Increment the data pointer one element
; after every data assignment with the DAT command.
REPEAT
; Set up a repeat/until loop
D(DAT1) ; The position is recalled into
; the distance command
GO
; Move to the position
T.5 ; Wait for 0.5 seconds
UNTIL(DPTR=1) ; Repeat the loop until the data pointer wraps around
; to data element #1 (all data elements have been read)
HOM1
; Move back to the home position
END
; End definition of the subroutine called DOPATH
Step 5
Define the MAIN Program (Include SETUP, TEACH, and DOPATH).
DEF MAIN ; Begin definition of the program called MAIN
SETUP
; Execute the subroutine called SETUP
TEACH
; Execute the subroutine called TEACH
DOPATH
; Execute the subroutine called DOPATH
END
; End definition of the program called MAIN
Step 6
Run the MAIN Program and Teach the Positions with the Joystick.
1. Enter the MAIN command to execute the teach application program.
2. 2. Use the joystick to move to the position to be taught.
3. Once in position, activate the joystick release input to teach the positions.
4. Repeat steps 2 and 3 for the remaining nine teach locations. After triggering the
joystick release input the tenth time, the controller will home the motor, repeat the
path that was taught, and then return to the home position.
114 Gem6K Series Programmer’s Guide