Gemini GV6K and Gemini GT6K Programmer's Guide

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S-Curve Profiling Controllers allow you to perform S-curve move profiles, in addition to the usual trapezoidal profiles. S-curve profiling provides smoother motion control by reducing the jerk (rate of change) in acceleration and deceleration portions of the move profile (see drawing below). Because S-curve profiling reduces jerk, it improves position tracking performance. Trapezoidal S-Curve Decel Accel Velocity Maximum Jerk Time Time Velocity Decel Accel Less Jerk Time Time S-Curve Programming Requirements To program an S-curve profile, you must use the average accel/decel commands provided in the Gem6K Series programming language. For every maximum accel/decel command (e.g., A, AD, HOMA, HOMAD, JOGA, JOGAD, etc.) there is an average command for S-curve profiling (see table below). Maximum Accel/Decel Commands: Command Function Average (“S-Curve”) Accel/Decel Commands: Command Function A Acceleration AA Average Acceleration AD Deceleration ADA Average Deceleration HOMA Home Acceleration HOMAA Average Home Acceleration HOMAD Home Deceleration HOMADA Average Home Deceleration JOGA Jog Acceleration JOGAA Average Jog Acceleration JOGAD Jog Deceleration JOGADA Average Jog Deceleration JOYA Joystick Acceleration JOYAA Average Joystick Acceleration JOYAD Joystick Deceleration JOYADA Average Joystick Deceleration LHAD Hard Limit Deceleration LHADA Average Hard Limit Deceleration LSAD Soft Limit Deceleration LSADA Average Soft Limit Deceleration PA Path Acceleration PAA Average Path Acceleration PAD Path Deceleration PADA Average Path Deceleration Determining the S-Curve Characteristics The command values for average accel/decel (AA, ADA, etc.) and maximum accel/decel (A, AD, etc.) determine the characteristics of the S-curve. To smooth the accel/decel ramps, you must enter average accel/decel command values that satisfy the equation ½ A ≤ AA < A, where A represents maximum accel/decel and AA represents average accel/decel. Given this requirement, the following conditions are possible: 136 Gem6K Series Programmer’s Guide
Acceleration Setting Profiling Condition AA > ½ A, but AA < A............. S-curve profile with a variable period of constant acceleration. Increasing the AA value above the pure S-curve level (AA > ½ A), the time required to reach the target velocity and the target distance is decreased. However, increasing AA also increases jerk. AA = ½ A ................................ Pure S-curve (no period of constant acceleration—smoothest motion). AA = A .................................... Trapezoidal profile (but can be changed to an S-curve by specifying a new AA value less than A). AA < ½ A; or AA > A............... When you issue the GO command, the move will not be executed and an error message, *INVALID CONDITIONS FOR S_CURVE ACCELERATION— FIELD n, will be displayed. AA = zero................................ S-curve profiling is disabled. Trapezoidal profiling is enabled. AA tracks A. (Track means the command's value will match the other command's value and will continue to match whatever the other command's value is set to.) However, if you enter an average decel command (e.g., ADA, HOMADA, etc.) equal to zero, you will receive the “INVALID DATA-FIELD n” error. AA ≠ zero and AA ≠ A ............ S-curve profiling is enabled only for standard moves (e.g., not for compiled motion, or on-the-fly motion changes). All subsequent standard moves for that axis must comply with this equation: ½ A ≤ AA < A. AA > ½ A ................................ Average accel/decel is raised above the pure S-curve level; this decreases the time required to reach the target velocity and distance. However, increasing AA also increases jerk. After increasing AA, you can reduce jerk by increasing A, but be aware that increasing A requires a greater torque to achieve the commanded velocity at the mid-point of the acceleration profile. No AA value ever entered ...... Profile will default to trapezoidal. AA tracks A. If you never change the A or AA deceleration commands, AA deceleration will track AA acceleration. However, once you change A deceleration, AA deceleration will no longer track changes in AA acceleration. For example, if you never change the AD or ADA command values, ADA will track the AA command value. But once you change AD, the ADA command value will no longer track the changes in the AA command value. The calculation for determining S-curve average accel and decel move times is as follows (calculation method identical for S-curve and trapezoidal moves): Time = Velocity Aavg or Time = 2 ∗ Distance Aavg Scaling affects the AA average acceleration (AA, ADA, etc.) the same as it does for the A maximum acceleration (A, AD, etc.). See page 67 for details on scaling. NOTE: Equations for calculating jerk are provided on page 138. Programming Example ; In this example, axis 1 executes a pure S-curve and takes 1 second ; to reach a velocity of 5 rps. SCALE0 ; Disable scaling DEF SCURV ; Begin definition of program SCURV MA0 ; Select incremental positioning mode D40000 ; Set distances to 40,000 positive- ; direction steps A10 ; Set max. accel to 10 rev/sec/sec AA5 ; Set avg. accel to 5 rev/sec/sec on AD10 ; Set max. decel to 10 rev/sec/sec ADA5 ; Set avg. decel to 5 rev/sec/sec on Move profile V5 ; Set velocity to 5 rps GO1 ; Execute motion END ; End definition of program Chapter 6. Following 137
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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)
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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
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 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: Custom Profiling 5C HAPTER FIVE Cus
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
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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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