Gemini GV6K and Gemini GT6K Programmer's Guide

More documents

Recommendations

Info

port for Gem6K commands. DRPCHK3 ..........Check for RP240 on power up or reset. If detected, initialize RP240. If no RP240, use serial port for DWRITE command only. The DWRITE command can be used to transmit text strings to remote RS-232C devices. (default setting for COM 2) Example COM 2 is to be used for RS-232; COM 1 is to be used for RP240, but the RP240 will be plugged in on an as-needed basis. The set-up commands for such an application should be executed in the following order: PORT1 DRPCHK2 PORT2 DRPCHKØ ; Select COM1 serial port for setup ; Configure COM1 for RP240, periodic check ; Select COM2 serial port for setup ; Configure COM2 for Gem6K commands only Operator Interface Features The RP240 may be used as your product’s operator interface, not a program entry terminal. As an operator interface, the RP240 offers the following features: • Displays text and variables • 8 LEDs can be used as programmable status lights • Operator data entry of variables: read data from RP240 into variables and command value substitutions (see Command Value Substitutions on page 7). Typically the user creates a program in the Gem6K controller to control the RP240 display and RP240 LEDs. The program can read data and make variable assignments via the RP240's keypad and function keys. The Gem6K Series software commands for the RP240 are listed below. Detailed descriptions are provided in the Gem6K Series Command Reference. The example below demonstrates the majority of these Gem6K Series commands for the RP240. DCLEAR............Clear The RP240 Display DJOG................Enter RP240 Jog Mode [DKEY]............Numeric value of RP240 Key DLED................Turn RP240 LEDs On/Off DPASS..............Change RP240 Password DPCUR..............Position The Cursor On The RP240 Display [DREAD] .........Read RP240 Data [DREADF] .......Read RP240 Function Key DREADI............RP240 Data Read Immediate Mode DRPCHK............Check for RP240 DSTP................Enable/Disable the RP240 Stop Key DVAR................Display Variable On RP240 DWRITE............Display Text On The RP240 Display 124 Gem6K Series Programmer’s Guide
Programming Example DEF panel1 ; Define program panel1 REPEAT ; Start of repeat loop DCLEAR0 ; Clear display DWRITE"SELECT A FUNCTION KEY" ; Display text "SELECT A FUNCTION KEY" DPCUR2,2 ; Move cursor to line 2 column 2 DWRITE"DIST" ; Display text "DIST" DPCUR2,9 ; Move cursor to line 2 column 9 DWRITE"GO" ; Display text "GO" DPCUR2,35 ; Move cursor to line 2 column 35 DWRITE"EXIT" ; Display text "EXIT" VAR1 = DREADF ; Input a function key IF (VAR1=1) ; If function key #1 hit GOSUB panel2 ; GOSUB program panel2 ELSE ; Else IF (VAR1=2) ; If function key #2 hit DLED1 ; Turn on LED #1 GO1 ; Start motion on axis #1 DLED0 ; Turn off LED #1 NIF ; End of IF (VAR1=2) NIF ; End of IF (VAR1=1) UNTIL (VAR1=6) ; Repeat until VAR1=6 (function key 6) DCLEAR0 ; Clear display DWRITE"LAST FUNCTION KEY = F" ; Display text "LAST FUNCTION KEY = F" DVAR1,1,0,0 ; Display variable 1 END ; End of panel1 DEF panel2 DCLEAR0 DWRITE"ENTER DISTANCE" D(DREAD) END ; Define prog panel2 ; Clear display ; Display text "ENTER DISTANCE" ; Enter distance number from RP240 ; End of panel2 Using the Default Menus On power-up, the Gem6K product will automatically default to a mode in which it controls the RP240 with the menu-driven functions listed below. The flow chart below illustrates the RP240's menu structure in the default operating mode (when no Gem6K product user program is controlling the RP240). Press the Menu Recall key to back up to the previous screen. The menu functions are described in detail below. • Run a stored program (RUN, STOP, PAUSE and CONTINUE functions) • Jog the load • Display the status of: - System (TSS), for each task - Axis (TAS) - Extended Axis (TASX) - I/O (TIN and TOUT) - Limits (TLIM) and ENABLE input (TINO bit #6) - Position: Commanded (TPC), Encoder (TPE) - Firmware revision levels for the Gem6K product (TREV) and the RP240 • Enable or disable the internal drive (DRIVE) • Access RP240 menu functions with a security password (set with DPASS) • Reset the Gem6K product (equivalent to the RESET command) NOTE: To disable these menus, the start-up program (the program assigned with the STARTP command) must contain the DCLEARØ command. Chapter 5. Custom Profiling 125
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 and 12:
Programming Fundamentals 1C HAPTER
Page 13 and 14:
Native Code Programming As an alter
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
Page 62 and 63:
Network Server # Range: 1-6 n NTMPR
Page 64 and 65:
Example VARB100 = HAB79 ; Element 3
Page 66 and 67:
Serial Communication Controlling Mu
Page 68 and 69:
Step 2 Connect the daisy-chain with
Page 70 and 71:
Daisy-Chaining and RP240s RS-485 Mu
Page 73 and 74:
Basic Operation Setup 3C HAPTER THR
Page 75 and 76:
Position loop ratio ...............
Page 77 and 78:
Scaling Units of Measure without Sc
Page 79 and 80:
Use the following equations to dete
Page 81 and 82:
Positioning Modes The Gem6K control
Page 83 and 84: Continuous Positioning Mode The Con
Page 85 and 86: Linear Position • D (distance)
Page 87 and 88: End-of-Travel Limits Related Comman
Page 89 and 90: Homing (Using the Home Inputs) Refe
Page 91 and 92: Figure C: Home Profil
Page 93 and 94: Homing Using The Z-Channel Figures
Page 95 and 96: Encoder Count/Capture Referencing U
Page 97 and 98: Filter Adjustments If the previous
Page 99 and 100: Target Zone Mode (move completion c
Page 101 and 102: Programmable I/O Bit Patterns The G
Page 103 and 104: Expansion I/O Bricks The Gem6K prod
Page 105 and 106: Letter Designator Function A ......
Page 107 and 108: BCD Program Select • LIMFNCi-B
Page 109 and 110: Pause/Continue • LIMFNCi-E • IN
Page 111 and 112: Code Examples INFNC1-H ; Assign tri
Page 113 and 114: One-to-One Program Select • LIMFN
Page 115 and 116: Output Functions The Gem6K product
Page 117 and 118: • Relationships: Output Type OUTL
Page 119 and 120: Output on Position (OUTFNCi-H) The
Page 121 and 122: 2. Teach the Data to the Data Progr
Page 123 and 124: Step 2 Define the SETUP Subroutine.
Page 125 and 126: Product Control Options 4 CHAPTER F
Page 127 and 128: RP240 (see page 123) Joystick (see
Page 129 and 130: Thumbwheels You can connect the con
Page 131 and 132: • ANO (set an analog output volta
Page 133: RP240 Remote Operator Panel Gem6K S
Page 137 and 138: Running a Stored Program or
Page 139 and 140: LIMITS Menu: • The POS, NEG and H
Page 141 and 142: To Set Up Joystick Operation (refer
Page 143 and 144: Host Computer Interface Another cho
Page 145 and 146: Custom Profiling 5C HAPTER FIVE Cus
Page 147 and 148: Acceleration Setting Profiling Cond
Page 149 and 150: Compiled Motion Profiling Gem6K Ser
Page 151 and 152: Axis Status (TASF, TAS, & AS): Bit
Page 153 and 154: product of master travel and averag
Page 155 and 156: like: MC0 ; Preset incremental posi
Page 157 and 158: POUTA Output During Compiled Motion
Page 159 and 160: Profile Program ; Setup code F
Page 161 and 162: Compiled Motion — Sample Applicat
Page 163 and 164: The table below shows these relatio
Page 165 and 166: On-the-Fly Motion (pre-emptive GOs)
Page 167 and 168: Scenario #2: OTF change of distance
Page 169 and 170: Registration A “registration inpu
Page 171 and 172: Registration — Sample Application
Page 173 and 174: Registration — Sample Application
Page 175 and 176: ER.14 .......Assignment & compariso
Page 177 and 178: Following 6C HAPTER SIX Following I
Page 179 and 180: Following Status (TFSF, TFS & FS Co
Page 181 and 182: • Sign bit (±): Specifies the co
Page 183 and 184: epeatedly issues the command with s
Page 185 and 186:
Enable the Following Mode; (FOLEN1)
Page 187 and 188:
Preset Positioning Mode Moves For p
Page 189 and 190:
Phase Shift Examples FSHFC Example
Page 191 and 192:
A FGADV move may not be performed:
Page 193 and 194:
Example Code cycle length is less t
Page 195 and 196:
Finally, master cycle counting rest
Page 197 and 198:
Master Position Prediction Master P
Page 199 and 200:
Maximum Velocity and Acceleration (
Page 201 and 202:
Master Velocity Relative to Master
Page 203 and 204:
When the Follower is in Preset Posi
Page 205 and 206:
Enter/Exit Following Mode While Mov
Page 207 and 208:
Error Messages If an illegal progra
Page 209 and 210:
Status and Assignment Commands: TAS
Page 211 and 212:
Multi-Tasking 7 CHAPTER SEVEN Multi
Page 213 and 214:
• Axis ..........................
Page 215 and 216:
GEM6K Resources I/O Serial Ports Et
Page 217 and 218:
GEM6K Resources Supervisor Program
Page 219 and 220:
How a “Kill” Works While Multi-
Page 221 and 222:
Sharing Common Resources Between Mu
Page 223 and 224:
Input and Output Functions and Mult
Page 225 and 226:
command. This could be used for dia
Page 227 and 228:
Troubleshooting 8 CHAPTER EIGHT Tro
Page 229 and 230:
Problem Cause Solution Direction is
Page 231 and 232:
Program Debug Tools After creating
Page 233 and 234:
TASF Reports axis-specific conditio
Page 235 and 236:
TSTAT Reports general system setup
Page 237 and 238:
TERF Reports error conditions. ** *
Page 239 and 240:
Error Messages Depending on the err
Page 241 and 242:
Programming Error Messages (continu
Page 243 and 244:
Step 2 Create a program prog3: DEF
Page 245 and 246:
Break Points The Break Point (BP) c
Page 247 and 248:
Inputs Step 1 Step 2 Step 3 Step 4
Page 249 and 250:
Index A absolute position absolute
Page 251 and 252:
zeroing the absolute position 79 ho
Page 253 and 254:
R skills required ii storing progra
show all

Gemini GV6K and Gemini GT6K Programmer's Guide

You also want an ePaper? Increase the reach of your titles

Delete template?

Save as template?