Gemini GV6K and Gemini GT6K Programmer's Guide

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Preventing Unwanted Registration Moves (methods) • Registration Input Debounce: Registration Input Debounce: By default, the registration inputs are debounced for 2 ms before another input on the same trigger is recognized. (The debounce time is the time required between a trigger's initial active transition and its secondary active transition.) Therefore, the maximum rate that a registration input can initiate registration moves is 500 times per second. If your application requires a shorter debounce time, you can change it with the TRGLOT command. • Registration Single-Shot: The REGSS command allows you to program the Gem6K controller to ignore any registration commands after the first registration move has been initiated. Refer to the REGSS command description for further details and an application example. • Registration Lockout Distance: The REGLOD command specifies what distance an axis must travel before any trigger assigned as a registration input will be recognized. Refer to the Sample Application 3 below. Registration Move Status & Error Handling Axis Status — Bit #28: This status bit is set when a registration move has been initiated by any registration input (trigger). This status bit is cleared with the next GO command. AS.28 .......Assignment & comparison operator — use in a conditional expression (see pg. 26). TASF..........Full text description of each status bit. (see “Reg Move Commanded” line item) TAS............Binary report of each status bit (bits 1-32 from left to right). See bit #28. Axis Status — Bit #30: If, when the registration input is activated, the registration move profile cannot be performed with the specified motion parameters, the Gem6K controller will kill the move in progress and set axis status bit #30. This status bit is cleared with the next GO command. AS.3Ø .......Assignment & comparison operator — use in a conditional expression (see pg. 26). TASF..........Full text description of each status bit. (see “Preset Move Overshot” line item) TAS............Binary report of each status bit (bits 1-32 from left to right). See bit #30. Further instructions about handling error conditions are provided on page 30. Error Status — Bit #10: This status bit may be set if axis status bit #30 is set. The error status is monitored and reported only if you enable error-checking bit #10 with the ERROR command (e.g., ERROR.1Ø-1). NOTE: When the error occurs, the controller will branch to the error program (assigned with the ERRORP command). This status bit is cleared with the next GO command. ER.1Ø .......Assignment & comparison operator — use in a conditional expression (see pg. 26). TERF..........Full text description of each status bit. (see “Preset Move Overshot” line item) TER............Binary report of each status bit (bits 1-32 from left to right). See bit #10. Trigger Status — Bits #1-17: Trigger status bits are set when a registration move has been initiated by trigger inputs A or B, or with the TRIG-M (master trigger) input. This also indicates that the position has been captured. As soon as the captured information is transferred or assigned/compared (see page 99), the respective trigger status bit is cleared (set to Ø). TRIG..........Assignment & comparison operator — use in a conditional expression.(see pg. 26). TTRIG .......Binary report of each status bit (bits 1-17 from left to right). From left to right the bits represent trigger A and B, the 17 th bit is master trigger M (the “MASTER TRIG” input terminal) — see page 91. 160 Gem6K Series Programmer’s Guide
Registration — Sample Application 1 In this example, two-tiered registration is achieved (see illustration below). While the motor is executing it’s 50,000-unit move, trigger input 1 (TRG-1A) is activated and executes registration move A to slow the load’s movement. An open container of volatile liquid is then placed on the conveyor belts. After picking up the liquid and while registration move A is still in progress, trigger input 2 (TRG-1B) is activated and executes registration move B to slow the load to gentle stop. DEL REGI1 ; Delete program (in case program already resides in memory) DEF REGI1 ; Begin program definition INFNC1-H ; Define trigger input 1 (TRG-1A) as trigger interrupt input INFNC2-H ; Define trigger input 2 (TRG-1B) as trigger interrupt input A20 ; Set acceleration on axis 1 to 20 units/sec2 AD40 ; Set deceleration on axis 1 to 40 units/sec2 V1 ; Set velocity on axis 1 to 1 unit/sec 1REGA4000 ; Set TRG-1A's registration distance on axis 1 to 4000 units ; (registration A move will use the A, AD, & V values above) A5 ; Set acceleration on axis 1 to 5 units/sec/sec AD2 ; Set deceleration on axis 1 to 2 units/sec/sec V.5 ; Set velocity on axis 1 to 0.5 units/sec 1REGB13000 ; Set TRG-1B's registration distance on axis 1 to 13,000 units ; (registration B move will use the A, AD, & V values above) RE10 ; Enable registration on axis 1 only A50 ; Set acceleration to 50 units/sec/sec on axis 1 AD50 ; Set deceleration to 50 units/sec/sec on axis 1 V10 ; Set velocity to 10 unit/sec on axis 1 D50000 ; Set distance to 50000 units on axis 1 GO10 ; Initiate motion on axis 1 END ; End program definition v 10 8 1st Registration mark (TRG-1A) occurs 2nd Registration mark (TRG-1B) occurs 6 4 Pick up container here 2 0 0 10,000 20,000 D Chapter 6. Following 161
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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 ......
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BCD Program Select • LIMFNCi-B
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Pause/Continue • LIMFNCi-E • IN
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Code Examples INFNC1-H ; Assign tri
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One-to-One Program Select • LIMFN
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Output Functions The Gem6K product
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• 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 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: Registration A “registration inpu
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
Page 209 and 210: Status and Assignment Commands: TAS
Page 211 and 212: Multi-Tasking 7 CHAPTER SEVEN Multi
Page 213 and 214: • Axis ..........................
Page 215 and 216: GEM6K Resources I/O Serial Ports Et
Page 217 and 218: GEM6K Resources Supervisor Program
Page 219 and 220: 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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