Gemini GV6K and Gemini GT6K Programmer's Guide

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Motion Planner Programming Environment Wizard-Based Programming Every Gem6K Series controller is shipped with Motion Planner, a free Windows-based programming tool designed to simplify your programming efforts. The Motion Planner CD- ROM is provided in your ship kit. Updates may be downloaded, free of charge, from the compumotor.com web site. Motion Planner supports two programming paradigms: Wizard-based programming, and Native Code programming (working directly with the Gem6K programming language). Motion Planner includes the Wizard Editor, which is intended to be your primary program development environment for the Gem6K. (version 4.2 or later) The Wizard Editor makes programming easy, eliminates the need to learn the programming language and frees you from concerning yourself with syntax errors. • A Start Wizard guides you through creating your program structure and configuring your Gem6K (drives, feedback, I/O, servo tuning, etc.). • Additional wizards guide you through all other programming tasks, such as creating motion profiles, I/O handling, error handling, program logic and branching, adding subprograms, etc. NOTE: All programming features that can be implemented with native code (in a textbased Program Editor) can also be accomplished in the Wizard Editor. • The Tag Name Dictionary allows you to label variables, axes, and I/O so that you can program in terms that are relevant to your machine. • If you have existing programs in an Editor, you can easily include them into the Wizard editor (using the Native Code wizard), so you don’t have to rewrite your code. • The Wizard Editor also includes interactive debug tools (break points, trace mode) and a status window to help you test and debug your application. • Context-sensitive help is always available – just click the Help button or press the F1 key. How to get started: 1. Install Motion Planner. 2. Launch Motion Planner and select your Gem6K product. Motion Planner opens a new Wizard Editor file. 3. When prompted to see an introduction and tutorial, click Yes. This will help you understand the basic features of the Wizard Editor and the programming process. 2 Gem6K Series Programmer’s Guide
Native Code Programming As an alternative to using the Wizard Editor, you may program directly with the Gem6K Command Language (“Native Code”). Motion Planner has several tools to help you: ACCESSING THE TOOLS: These tools are exposed when you first launch Motion Planner. • Program Editor: This is your primary interface for programming with the Gem6K Command Language. • Terminal Emulator: This is your primary communications interface to send commands directly to the Gem6K. • Servo Tuner: This graphical tuning utility helps you visually tune your servo axes. Then you can copy the resulting gains into your program in the Program Editor. NOTE: Before attempting motion, be sure to tune your axes. Tuning guidelines are provide on page • Motion Panel: This feature allows definition of quick command buttons and other useful debugging and functional tools to assist in programming your Gem6K. • Online Help: While you are programming in Motion Planner’s Editor, Terminal or Servo Tuner, you have immediate access to all command descriptions (the contents of the Gem6K Series Command Reference, as well as the contents to this Programmer’s Guide). To access the command descriptions, click on the Help menu and select Contents; from there you can browse the “Gem6K Command Language” or you can search for the command or a topic in the Index tab. The rest of the contents in this manual are directed toward the native code programmer. If you are new to the Gem6K Series Programming Language, be sure to read Chapter 1 (Programming Fundamentals) thoroughly. Then proceed to the relevant chapters for the features you need for your programs. NOTE: If you later decide to use the Wizards Editor, you can copy code from the Program Editor and paste it into Native Code objects in the Wizard program tree. TIP: For complex programming tasks, like setup programming, error programming, Following profile development, etc., you can use the relevant wizard in the Wizards Editor, then copy the generated code from the Code Viewer and paste it into a Program Editor file. Chapter 1. Programming Fundamentals 3
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 11: Programming Fundamentals 1C HAPTER
Page 15 and 16: Description of Syntax Letters and S
Page 17 and 18: Command Value Substitutions Many co
Page 19 and 20: Bit Select Operator Binary and Hex
Page 21 and 22: Storing Programs After a program or
Page 23 and 24: Executing Programs (options) Follow
Page 25 and 26: In the programming example below, b
Page 27 and 28: Restricted Commands During Motion W
Page 29 and 30: Using Numeric (VAR and VARI) Variab
Page 31 and 32: Tangent Example Response RADIAN0 VA
Page 33 and 34: Program flow refers to the order in
Page 35 and 36: Conditional Looping and Branching F
Page 37 and 38: RP240 Data Read Immediate Mode The
Page 39 and 40: Program Interrupts (ON Conditions)
Page 41 and 42: Enabling Error Checking To detect a
Page 43 and 44: 12 Servos only: Exceeded Max. Allow
Page 45: Non-Volatile Memory The items liste
Page 48 and 49: Communication Options RS-232/485 +2
Page 50 and 51: • Gem6K as a server. The Gem6K wa
Page 52 and 53: Networking Guidelines • Use a clo
Page 54 and 55: Changing the Gem6K’s IP Address o
Page 56 and 57: Ethernet Connection Status LEDs (lo
Page 58 and 59: Program Interaction Each Unit can r
Page 60 and 61: module number, “i” is the point
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Network Server # Range: 1-6 n NTMPR
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Example VARB100 = HAB79 ; Element 3
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Serial Communication Controlling Mu
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Step 2 Connect the daisy-chain with
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Daisy-Chaining and RP240s RS-485 Mu
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Basic Operation Setup 3C HAPTER THR
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Position loop ratio ...............
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Scaling Units of Measure without Sc
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Use the following equations to dete
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Positioning Modes The Gem6K control
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Continuous Positioning Mode The Con
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Linear Position • D (distance)
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End-of-Travel Limits Related Comman
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Homing (Using the Home Inputs) Refe
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Figure C: Home Profil
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Homing Using The Z-Channel Figures
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Encoder Count/Capture Referencing U
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Filter Adjustments If the previous
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Target Zone Mode (move completion c
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Programmable I/O Bit Patterns The G
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Expansion I/O Bricks The Gem6K prod
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Letter Designator Function A ......
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BCD Program Select • LIMFNCi-B
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Pause/Continue • LIMFNCi-E • IN
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Code Examples INFNC1-H ; Assign tri
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One-to-One Program Select • LIMFN
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Output Functions The Gem6K product
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• Relationships: Output Type OUTL
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Output on Position (OUTFNCi-H) The
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2. Teach the Data to the Data Progr
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Step 2 Define the SETUP Subroutine.
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Product Control Options 4 CHAPTER F
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RP240 (see page 123) Joystick (see
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Thumbwheels You can connect the con
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• ANO (set an analog output volta
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RP240 Remote Operator Panel Gem6K S
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Programming Example DEF panel1 ; De
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Running a Stored Program or
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LIMITS Menu: • The POS, NEG and H
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To Set Up Joystick Operation (refer
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Host Computer Interface Another cho
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Custom Profiling 5C HAPTER FIVE Cus
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Acceleration Setting Profiling Cond
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Compiled Motion Profiling Gem6K Ser
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Axis Status (TASF, TAS, & AS): Bit
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product of master travel and averag
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like: MC0 ; Preset incremental posi
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POUTA Output During Compiled Motion
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Profile Program ; Setup code F
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Compiled Motion — Sample Applicat
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The table below shows these relatio
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On-the-Fly Motion (pre-emptive GOs)
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Scenario #2: OTF change of distance
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Registration A “registration inpu
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Registration — Sample Application
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Registration — Sample Application
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ER.14 .......Assignment & compariso
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Following 6C HAPTER SIX Following I
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Following Status (TFSF, TFS & FS Co
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• Sign bit (±): Specifies the co
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epeatedly issues the command with s
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Enable the Following Mode; (FOLEN1)
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Preset Positioning Mode Moves For p
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Phase Shift Examples FSHFC Example
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A FGADV move may not be performed:
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Example Code cycle length is less t
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Finally, master cycle counting rest
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Master Position Prediction Master P
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Maximum Velocity and Acceleration (
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Master Velocity Relative to Master
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When the Follower is in Preset Posi
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Enter/Exit Following Mode While Mov
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Error Messages If an illegal progra
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Status and Assignment Commands: TAS
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Multi-Tasking 7 CHAPTER SEVEN Multi
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• Axis ..........................
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GEM6K Resources I/O Serial Ports Et
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GEM6K Resources Supervisor Program
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How a “Kill” Works While Multi-
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Sharing Common Resources Between Mu
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Input and Output Functions and Mult
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command. This could be used for dia
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Troubleshooting 8 CHAPTER EIGHT Tro
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Problem Cause Solution Direction is
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Program Debug Tools After creating
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TASF Reports axis-specific conditio
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TSTAT Reports general system setup
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TERF Reports error conditions. ** *
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Error Messages Depending on the err
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Programming Error Messages (continu
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Step 2 Create a program prog3: DEF
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Break Points The Break Point (BP) c
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Inputs Step 1 Step 2 Step 3 Step 4
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Index A absolute position absolute
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zeroing the absolute position 79 ho
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R skills required ii storing progra
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