Gemini GV6K and Gemini GT6K Programmer's Guide

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Related Commands GOBUF Store a Motion Segment in Compiled Memory: The GOBUF command creates a motion segment as part of a profile and places it in a segment of compiled memory, to be executed after all previous GOBUF motion segments have been executed. An individual axis profile is constructed by sequentially appending motion segments using GOBUF commands. Each motion segment may have its own distance to travel, velocity, acceleration, and deceleration. The end of a GOBUF motion segment in preset mode is determined by the distance or position specified. The end of a GOBUF motion segment in continuous mode is determined by the goal velocity specified. In both cases, the final velocity and position achieved by a segment will be the starting velocity and position for the next segment. If either type of segment is followed by a GOWHEN command, the segment’s final velocity will be maintained until the GOWHEN condition becomes true. PLOOP & PLN Loop Start & Loop End (Compiled Motion only): The PLOOP and PLN commands specify the beginning and end of an axis-specific profile loop, respectively. All segments defined between the PLOOP and PLN commands are included within that loop. VF & FOLRNF GOWHEN Final Velocity & Numerator of Slave-to-Master Final Ratio: The VF and FOLRNF commands are used to designate that the motor will move the load the distance designated in a preset GOBUF motion segment, completing the move at a final speed of zero. The VF command is used when the Following mode is disabled (FOLENØ). The FOLRNF command is used when the Following mode is enabled (FOLEN1). Conditional GO: When GOWHEN is compiled in a profile, the GOWHEN condition is stored as part of that profile instead of being executed immediately. When progress through the profile reaches the compiled GOWHEN, AS.26 is set, and the next segment’s execution will be suspended until the GOWHEN condition becomes true. This allows subsequent GOWHEN and GOBUF combinations to be issued and stored, instead of overriding each other. TRGFN Trigger Functions: When TRGFN is compiled in a profile, the TRGFN condition is stored as part of that profile instead of being executed immediately. When progress through the profile reaches the compiled TRGFN, the embedded trigger functions are assigned to that trigger. AS.26 is set if the GOWHEN function has been assigned to the trigger, and the next segment’s execution will be suspended until the specified trigger input goes active. This allows subsequent TRGFN, GOWHEN, and GOBUF combinations to be issued and stored, instead of overriding each other. PCOMP, PRUN & PUCOMP Compile a Program, Run a Compiled Program, & Un-Compile a Compiled Program: The PCOMP, PRUN, and PUCOMP commands allow you to incorporate individual axis profiles within compiled motion profiles. Compiled motion for the Gem6K series allows you to construct complex motion programs using individual profiles (a series of GOBUF commands). PEXE Execute Compiled GOBUF Profile from PLC Program: You can place a PEXE command inside a compiled PLCP program. When the PLCP program is scanned in the PLC Scan Mode (SCANP), the PEXE command launches the specified compiled profile in another task. For details on the PLC Scan Mode, see page 120. 146 Gem6K Series Programmer’s Guide
POUTA Output During Compiled Motion Profile: The POUTA command turns the programmable output bits on and off. TSEG & SEG Transfer/Display (TSEG) or Assign (SEG) the Number of Free Segment Buffers: The TSEG command returns the number of free segment buffers in compiled memory. The SEG command is used to assign the number of free segment buffers in compiled memory to a variable or to make a comparison against another value. Compiled Motion — Sample Application 1 Profile A manufacturer has an application where wire is being wrapped onto a spindle. There is a motor controlling the rotational speed of the spindle. Every application of the spindle requires that the motor runs at a fast speed with a slow acceleration for the first few revolutions, a medium speed for the next couple of revolutions, and a slower speed as the spindle gets fuller to maintain somewhat of a constant velocity off the feed wire. The technician would like to use an RP240 to enter the velocity and number of revolutions for each stage of winding. Programmable outputs 1, 2 and 3 are wired to status LEDs, and should go on for the respective stages of winding (output 1 for stage 1, etc.). Program DEF PROFIL ; Define motion profile program VAR10 = 4000 * VAR4 ; Get distance of first stage ; (assuming 4000 steps/revolution) D(VAR10) ; Set distance V(VAR1) ; Set velocity of first stage POUTA.1-1 ; Turn output 1 on GOBUF1 ; Build motion VAR10 = 4000 * VAR5 ; Get distance of second stage D(VAR10) ; Set distance V(VAR2) ; Set velocity of second stage POUTA01 ; Turn output 1 off and output 2 on GOBUF1 ; Build motion VAR10 = 4000 * VAR6 ; Get distance of third stage D(VAR10) ; Set distance V(VAR3) ; Set velocity of third stage POUTAx01 ; Turn output 2 off and output 3 on GOBUF1 ; Build motion POUTA.3-0 ; Turn off output 3 END ; End motion profile program DEF EXMPL1 ; Define program example 1 L ; Continual loop of program execution DCLEAR0 ; Clear all lines on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"ENTER VELOCITY STAGE 1" ; Prompt user VAR1 = DREAD ; Get 1st velocity from RP240 entry DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"ENTER VELOCITY STAGE 2" ; Prompt user VAR2 = DREAD ; Get 2nd velocity from RP240 entry DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"ENTER VELOCITY STAGE 3" ; Prompt user VAR3 = DREAD ; Get 3rd velocity from RP240 entry DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"ENTER REVOLUTIONS STAGE 1" ; Prompt user Chapter 6. Following 147
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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
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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
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 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: like: MC0 ; Preset incremental posi
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
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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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