Gemini GV6K and Gemini GT6K Programmer's Guide

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Status Reports: System & Axis After accessing the desired status menu, you can ascertain the function and status of each system (TSS, for each task) or axis (TAS and TASX) status bit by pressing the arrow keys on the numeric keypad. To view a more descriptive explanation of each status bit (includes a text description), press the left or right arrow keys on the numeric keypad. Status Reports: I/O, Limits, Position INPUTS Menu: This menu displays the TIN bit patterns for programmable inputs (onboard triggers and digital inputs on expansion I/O bricks). Remember that I/O bit patterns vary by product (see page 91 to find the bit patterns for your product). The initial menu show the trigger inputs status; use the up and down arrows to select the status of inputs on expansion I/O bricks. OUTPUTS Menu: This menu displays the TOUT bit patterns for programmable outputs (onboard outputs and digital outputs on expansion I/O bricks). Remember that I/O bit patterns vary by product (see page 91 to find the bit patterns for your product). The initial menu show the onboard outputs; use the up and down arrows to select the status of outputs on expansion I/O bricks. 128 Gem6K Series Programmer’s Guide
LIMITS Menu: • The POS, NEG and HOME status items represent the hardware states of the limit inputs on the “LIMITS/HOME” connector, regardless of their LIMFNC input function assignments; they do not represent INFNC limit functions assigned to onboard trigger inputs or digital inputs on expansion I/O bricks. • “POS” refers to the hardware end-of-travel limit imposed when counting in the positive direction. “NEG” refers to the limit imposed when counting in the negative direction. • A “1” indicates that the input is grounded, “0” indicates not grounded. The end-of-travel limits (POS and NEG) must be grounded to allow motion (this is reversed if the active level is reversed with the LIMLVL command). The Enable input (ENABLE input terminal) must also be grounded before motion is allowed. When not grounded, the output to the motor is cut off and the shutdown outputs are activated. POS Menu: • The position values (encoder, commanded, and position error) shown are continually updated. • The position error (“ERROR”) report is applicable only to servo axes. • Position values are subject to the SCLD scaling factor (if scaling is enabled—SCALE1), PSET offset value, encoder polarity (ENCPOL), and commanded direction polarity (CMDDIR). Enabling and Disabling the Drive(s) In the DRIVE menu, the current status of the drive(s) is displayed. To enable or disable the drive, press F1 or F2, respectively This menu offers the same functionality as the DRIVE command. WARNING Shutting down a rotary drive system allows the load to freewheel if there is no brake installed. Access Security If the RP240 password is modified with the DPASS command to be other than the default (see Changing the Password below) the ACCESS menu then becomes the new default menu after power-up or executing a RESET. After that, the new password must then be entered to access the original default menu (see “Access Approved” path in illustration). If the operator does not know the new password, all he or she can do is run programs stored in the Gem6K product (RUN). Chapter 5. Custom Profiling 129
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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
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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 and 136: Programming Example DEF panel1 ; De
Page 137: Running a Stored Program or
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
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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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Gemini GV6K and Gemini GT6K Programmer's Guide

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