Gemini GV6K and Gemini GT6K Programmer's Guide

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126 Gem6K Series Programmer’s Guide
Running a Stored Program or After accessing the RUN menu, press F1 to “find” the names of the programs stored in the Gem6K product’s memory; pressing F1 repeatedly displays subsequent programs in the order in which they were stored in BBRAM. To execute the program, press the ENTER key. To type in a program name at the location of the cursor, first select alpha or numeric characters with the F2 function key (characters will be alpha if an asterisk appears to the right of ALPHA, or numeric if no asterisk appears). If alpha, press the up (2) or down (8) keys to move through the alphabet, if numeric, press the desired number key. Press F3 to move the cursor to the left, or F4 to move the cursor to the right. Only user programs defined with DEF and END may be executed from this menu. Compiled profiles (GOBUF profiles) cannot be executed from this menu; they must be executed from the terminal emulator with the PRUN command, or you can place the PRUN (name of path) command in a user program and then execute that program from this menu. HINT: If you wish to display each command as it is executed, select STEP and TRACE and press the ENTER key to step through the program. When a program is RUN and TRACE is selected (TRACE*), the RP240 display will trace all program commands as they are executed. This is different from the TRACE command in that the trace output goes to the RP240 display, not to a terminal via the serial port. When a program is RUN and STEP is selected, step mode has been entered. This is similar to the STEP command, but when selected from the RUN menu the step mode allows single stepping by pressing the ENTER key. Both RP240 trace mode and step mode are exited when program execution is terminated. Jogging You can jog the axis by pressing the arrow keys on the RP240’s numeric keypad. The left and right arrow keys are for jogging the axis in the negative and positive direction, respectively. Pressing an arrow key starts motion and releasing the arrow key stops motion. The HI and LO values in the jog menu represent the velocity in units of revs/sec. If scaling is enabled, the value is multiplied by the programmed SCLV value. To edit the jog velocity* values: 1. Press the F5 function key under EDIT (edit mode indicated with an asterisk). 2. Press the F1 function key to select the HI and LO values (cursor appears under the first digit of the value selected). 3. Using the numeric keyboard, enter the value desired. 4. Repeat steps 2 and 3 for all values to be changed. 5. Press ENTER when finished editing. 6. To jog with the new velocity values, first press the F6 function key (under JOG) to enable the arrow keys again. Jog accel and decel values are specified by the JOGA and JOGAD commands, respectively. Chapter 5. Custom Profiling 127
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p/n 88-019934-01 A Automation Gemin
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CONTENTS OVERVIEW..................
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Multi-Tasking Performance Issues ..
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Programming Examples Reference Docu
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Programming Fundamentals 1C HAPTER
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Native Code Programming As an alter
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Description of Syntax Letters and S
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Command Value Substitutions Many co
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Bit Select Operator Binary and Hex
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Storing Programs After a program or
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Executing Programs (options) Follow
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In the programming example below, b
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Restricted Commands During Motion W
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Using Numeric (VAR and VARI) Variab
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Tangent Example Response RADIAN0 VA
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Program flow refers to the order in
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Conditional Looping and Branching F
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RP240 Data Read Immediate Mode The
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Program Interrupts (ON Conditions)
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Enabling Error Checking To detect a
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12 Servos only: Exceeded Max. Allow
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Non-Volatile Memory The items liste
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Communication Options RS-232/485 +2
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• Gem6K as a server. The Gem6K wa
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Networking Guidelines • Use a clo
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Changing the Gem6K’s IP Address o
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Ethernet Connection Status LEDs (lo
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Program Interaction Each Unit can r
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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
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 and 134: RP240 Remote Operator Panel Gem6K S
Page 135: Programming Example DEF panel1 ; De
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)
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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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