Gemini GV6K and Gemini GT6K Programmer's Guide

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Trigger Functions (TRGFN) MC0 ; Set to preset move mode D20 ; Set distance end-point COMEXC1 ; Enable continuous command execution mode V1 ; Set velocity A100 ; Set acceleration GOWHEN(IN.2=b1) ; Delay profile. When expression is true (input #2 is ; low) start motion. GO ; Command to move. Motor will not start until ; conditions in the GOWHEN statement are true. ; Command processing does not wait, so other system ; functions may be performed. The Trigger Functions command (TRGFN) allows you to assign additional functions to trigger inputs that have been defined as “trigger interrupt” inputs (INFNCi-H): TRGFNc bb Start New Master Cycle (FMCNEW) function Conditional GO (GOWHEN) function Trigger letter. Two triggers are available (A or B). The “Master Trigger” (letter M) may also be used. • “Conditional GO” Function (TRGFNc1x): Suspend execution of the next start-motion command until specified trigger input “c” goes active. Start-motion commands are listed below. Refer to page 163 or to the GOWHEN command description for additional details. - GO (standard command to begin motion) - FGADV (begin geared advance – for Following motion) - FSHFC (begin continuous shift – for Following motion) - FSHFD (begin preset shift – for Following motion) Axis status bit #26 (reported with TASF, TAS, or AS) is set to one (1) when there is a pending “Conditional GO” condition initiated by a TRGFN command; this bit is cleared when the trigger is activated or when a stop command (S) or a kill command (K) is issued. If you need execution to be triggered by other factors (e.g., input state, master position, encoder position, etc.) use the GOWHEN command. • “New Master Cycle” Function (TRGFNcx1): This is equivalent to executing the FMCNEW command. When specified trigger input “c” goes active, the controller begins a new Following master cycle. For more information on master cycles, refer to page 182 or to the FMCNEW command description. These trigger functions are cleared once the function is complete (trigger input is activated). To use the trigger to perform a GOWHEN function again, the TRGFN command must be given again. Sample Gem6K Code INFNC1-H INFNC2-H TRGFNBx1 TRGFNB1x GO1 ; Define input #1 (TRG-A) as a trigger interrupt input ; Define input #2 (TRG-B) as a trigger interrupt input ; When TRG-1B goes active, motor will begin a new ; master cycle ; When TRG-2B goes active, motor will execute the move ; commanded with the GO command. ; The move is commanded, but will not execute ; until trigger 2B goes active. 166 Gem6K Series Programmer’s Guide
Following 6C HAPTER SIX Following IN THIS CHAPTER This chapter will help you understand Ratio Following: • Introduction to Ratio Following ......................................................................168 • Implementing Ratio Following .......................................................................170 • Master Cycle Concept .....................................................................................182 • Technical Considerations for Following .........................................................186 • Troubleshooting for Following .......................................................................196 • Following Commands (list).............................................................................198
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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
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Output on Position (OUTFNCi-H) The
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2. Teach the Data to the Data Progr
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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 and 170: Registration A “registration inpu
Page 171 and 172: Registration — Sample Application
Page 173 and 174: Registration — Sample Application
Page 175: ER.14 .......Assignment & compariso
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-
Page 221 and 222: Sharing Common Resources Between Mu
Page 223 and 224: Input and Output Functions and Mult
Page 225 and 226: 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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