Gemini GV6K and Gemini GT6K Programmer's Guide

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VAR4 = DREAD ; Get # of windings 1st stage from RP240 entry DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"ENTER REVOLUTIONS STAGE 2" ; Prompt user VAR5 = DREAD ; Get # of windings 2nd stage from RP240 entry DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE”ENTER REVOLUTIONS STAGE 3" ; Prompt user VAR6 = DREAD ; Get # of windings 3rd stage from RP240 entry PCOMP PROFIL ; Re-compile profile with new vel/dist info $AGAIN ; Label for repeating same profile PRUN PROFIL ; Execute profile DCLEAR1 ; Clear line 1 on RP240 display DPCUR1,1 ; Position cursor at line 1, column 1 DWRITE"SAME DATA (1=YES,2=NO)" ; Prompt user if perform again with old data VAR7 = DREAD ; Get response IF(VAR7=1) ; If user wants to perform same profile GOTO AGAIN ; perform again NIF ; End conditional LN ; End command execution loop END ; End definition program example 1 ; ****************************************** ; * To begin, execute the EXMPL1 program * ; ****************************************** Compiled Motion — Sample Application 2 Here’s an example of replacing a mechanical cam using a compiled Following profile. There is evenly spaced product coming in on a feeder belt. The feeder belt may vary in speed. The cam that you are replacing controls a push arm that will push the product into a box for shipping. You would also like the arm to retract at a faster rate than it extends. In other words, you would like to have a smooth push to load and a fast retract to set up for the next product. Since this is a cam, this profile must repeat continuously for each product or master cycle but won’t start until the first product is detected. The feeder belt is the master and the master cycle length (space from the front of one product to the front of the next) is 12000 master (encoder) counts on the feeder belt. The push of the product will start 2000 counts into the master cycle. The push will take place over Gem6K master counts, and the retract over 2000 master counts. The distance the push arm (slave) must travel is 4000 counts. Assume the detector is wired to trigger 1A (onboard trigger input 1). Below is a graph of this Following profile. 148 Gem6K Series Programmer’s Guide
Profile Program ; Setup code FOLMAS1 FOLEN1 INFNC1-H ; Master is coming in on the master encoder input ; Enable Following ; Assign onboard input 1 (TRG-1A) as trigger interrupt ; Motion program DEL EXPL2 ; Delete program (in case it already exists in memory) DEF EXPL2 ; Begin definition of program example 2 1TRGFNA1 ; Launch axis 1 profile upon receiving TRG-1A ; (1st product detected) PLOOP0 ; Loop continuously to mimic a mechanical cam ; Program first move - dwell FOLRN1 ; Set up ratios - numerator FOLRD1 ; and denominator FOLMD2000 ; Over a distance of 2000 master steps D0 ; slave will not move FOLRNF0 ; and end at zero ratio GOBUF1 ; Build motion ; Program second move - positive slave move FOLMD6000 ; Over a distance of 6000 master steps D4000 ; slave will move 4000 steps FOLRNF0 ; and end at zero ratio GOBUF1 ; Build motion ; Program third move - negative slave move FOLRN3 ; New ratio to accommodate larger distance of slave travel FOLMD2000 ; Over a distance of 2000 master steps D-4000 ; slave will move -4000 steps FOLRNF0 ; and end at zero ratio GOBUF1 ; Build motion ; Program last move - dwell FOLMD2000 ; Over a distance of 2000 master steps D0 ; slave will not move FOLRNF0 ; and end at zero ratio GOBUF1 ; Build motion PLN1 ; Close cam loop END ; End program example 2 PCOMP EXPL2 ; Compile program EXPL2 ; ** To execute the program, enter the PRUN EXPL2 command ** Chapter 6. Following 149
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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
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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 and 156: like: MC0 ; Preset incremental posi
Page 157: POUTA Output During Compiled Motion
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
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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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