Gemini GV6K and Gemini GT6K Programmer's Guide

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User Information WARNING ! ! Gem6K Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose not expressly authorized by the owner thereof. Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice. In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide. © 2001, Parker Hannifin Corporation All Rights Reserved Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation. Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation. Technical Assistance Contact your local automation technology center (ATC) or distributor, or ... North America and Asia: Compumotor Division of Parker Hannifin 5500 Business Park Drive Rohnert Park, CA 94928 Telephone: (800) 358-9070 or (707) 584-7558 Fax: (707) 584-3793 FaxBack: (800) 936-6939 or (707) 586-8586 e-mail: tech_help@cmotor.com Internet: http://www.compumotor.com Europe (non-German speaking): Parker Digiplan 21 Balena Close Poole, Dorset England BH17 7DX Telephone: +44 (0)1202 69 9000 Fax: +44 (0)1202 69 5750 Germany, A ustria, Switzerland: HAUSER Elektronik GmbH Postfach: 77607-1720 Robert-Bosch-Str. 22 D-77656 Offenburg Telephone: +49 (0)781 509-0 Fax: +49 (0)781 509-176 Tech nical Support Automation E-mail: Tech_Help@cmotor.com
CONTENTS OVERVIEW.................................................................. I About This Manual......................................................i Organization of This Manual...................................i Programming Examples..........................................ii Reference Documentation.......................................ii Assumptions of Technical Experience....................ii Before You Begin......................................................iii Install and Use Motion Planner .............................iii Technical Support......................................................iii PROGRAMMING FUNDAMENTALS ..................... 1 Motion Planner Programming Environment............... 2 Wizard-Based Programming................................... 2 Native Code Programming ..................................... 3 Command Syntax........................................................ 4 Introduction ............................................................ 4 Description of Syntax Letters and Symbols............ 5 General Guidelines for Syntax................................ 6 Command Value Substitutions ............................... 7 Assignment and Comparison Operators ................. 7 Programmable Inputs and Outputs Bit Patterns...... 9 Creating Programs .................................................... 10 Program Example ................................................. 10 Storing Programs ...................................................... 11 Memory Allocation............................................... 11 Checking Memory Status...................................... 12 Executing Programs (options) .................................. 13 Creating and Executing a Set-up Program................ 13 Program Security ...................................................... 14 Controlling Execution of Programs and the Command Buffer........................................................................ 14 COMEXC (Continuous Command Execution)..... 14 COMEXL (Save Command Buffer on Limit) ...... 15 COMEXR (Effect of Pause/Continue Input) ........ 15 COMEXS (Save Command Buffer on Stop) ........ 16 Restricted Commands During Motion...................... 17 Variables................................................................... 18 Converting Between Binary and Numeric Variables .............................................................................. 18 Using Numeric (VAR and VARI) Variables.......... 19 Using Binary Variables......................................... 22 Unconditional Looping and Branching................. 23 Conditional Looping and Branching..................... 25 Program Interrupts (ON Conditions) ........................ 29 Error Handling.......................................................... 30 Enabling Error Checking ...................................... 31 Defining the Error Program .................................. 31 Canceling the Branch to the Error Program.......... 32 Error Program Set-up Example............................. 34 Non-Volatile Memory .............................................. 35 System Performance..................................................35 COMMUNICATION..................................................37 Communication Options ...........................................38 Motion Planner Communication Features.................38 Ethernet Networking .................................................39 Overview...............................................................39 Networking Guidelines .........................................42 Configuring the Gem6K for Ethernet Communication.....................................................43 Networking with Other 6K or Gem6K Products (Peer-to-Peer) ........................................................46 Networking with OPTO22 SNAP I/O...................48 Networking with a DVT Vision System ...............50 Networking with an Allen-Bradley SLC 5/05 PLC ...............................................................................51 Error Conditions....................................................54 Serial Communication...............................................56 Controlling Multiple Serial Ports ..........................56 RS-232C Daisy-Chaining......................................57 Daisy-Chaining and RP240s .................................60 RS-485 Multi-Drop ...............................................60 BASIC OPERATION SETUP....................................63 Before You Begin .....................................................64 Setup Parameters Discussed in this Chapter .........64 Using a Setup Program..........................................65 Resetting the Controller ........................................65 Memory Allocation ...................................................65 Drive Setup ...............................................................66 Drive Stall Detection (stepper only)......................66 Drive Resolution (stepper only) ............................66 Disable Drive On Kill (servo only) .......................66 Scaling.......................................................................67 Units of Measure without Scaling.........................67 What is Scaling....................................................67 When Should I Define Scaling Factors ...............67 Acceleration & Deceleration Scaling (SCLA).......68 Velocity Scaling (SCLV)......Error! Bookmark not defined. Distance Scaling (SCLD and SCLMAS)......... Error! Bookmark not defined. Positioning Modes.....................................................71 Preset Positioning Mode........................................72 Continuous Positioning Mode...............................73 End-of-Travel Limits ................................................77 Homing (Using the Home Inputs) .............................79 Encoder-Based Stepper Operation (stepper only) .....84 Encoder Resolution ...............................................84 Stall Detection & Kill-on-Stall..............................84 Encoder Set Up Example ......................................84
Page 1: p/n 88-019934-01 A Automation Gemin
Page 5: Multi-Tasking Performance Issues ..
Page 8 and 9: Programming Examples Reference Docu
Page 11 and 12: Programming Fundamentals 1C HAPTER
Page 13 and 14: Native Code Programming As an alter
Page 15 and 16: Description of Syntax Letters and S
Page 17 and 18: Command Value Substitutions Many co
Page 19 and 20: Bit Select Operator Binary and Hex
Page 21 and 22: Storing Programs After a program or
Page 23 and 24: Executing Programs (options) Follow
Page 25 and 26: In the programming example below, b
Page 27 and 28: Restricted Commands During Motion W
Page 29 and 30: Using Numeric (VAR and VARI) Variab
Page 31 and 32: Tangent Example Response RADIAN0 VA
Page 33 and 34: Program flow refers to the order in
Page 35 and 36: Conditional Looping and Branching F
Page 37 and 38: RP240 Data Read Immediate Mode The
Page 39 and 40: Program Interrupts (ON Conditions)
Page 41 and 42: Enabling Error Checking To detect a
Page 43 and 44: 12 Servos only: Exceeded Max. Allow
Page 45: Non-Volatile Memory The items liste
Page 48 and 49: Communication Options RS-232/485 +2
Page 50 and 51: • Gem6K as a server. The Gem6K wa
Page 52 and 53:
Networking Guidelines • Use a clo
Page 54 and 55:
Changing the Gem6K’s IP Address o
Page 56 and 57:
Ethernet Connection Status LEDs (lo
Page 58 and 59:
Program Interaction Each Unit can r
Page 60 and 61:
module number, “i” is the point
Page 62 and 63:
Network Server # Range: 1-6 n NTMPR
Page 64 and 65:
Example VARB100 = HAB79 ; Element 3
Page 66 and 67:
Serial Communication Controlling Mu
Page 68 and 69:
Step 2 Connect the daisy-chain with
Page 70 and 71:
Daisy-Chaining and RP240s RS-485 Mu
Page 73 and 74:
Basic Operation Setup 3C HAPTER THR
Page 75 and 76:
Position loop ratio ...............
Page 77 and 78:
Scaling Units of Measure without Sc
Page 79 and 80:
Use the following equations to dete
Page 81 and 82:
Positioning Modes The Gem6K control
Page 83 and 84:
Continuous Positioning Mode The Con
Page 85 and 86:
Linear Position • D (distance)
Page 87 and 88:
End-of-Travel Limits Related Comman
Page 89 and 90:
Homing (Using the Home Inputs) Refe
Page 91 and 92:
Figure C: Home Profil
Page 93 and 94:
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
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Programming Example DEF panel1 ; De
Page 137 and 138:
Running a Stored Program or
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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 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-
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
Page 227 and 228:
Troubleshooting 8 CHAPTER EIGHT Tro
Page 229 and 230:
Problem Cause Solution Direction is
Page 231 and 232:
Program Debug Tools After creating
Page 233 and 234:
TASF Reports axis-specific conditio
Page 235 and 236:
TSTAT Reports general system setup
Page 237 and 238:
TERF Reports error conditions. ** *
Page 239 and 240:
Error Messages Depending on the err
Page 241 and 242:
Programming Error Messages (continu
Page 243 and 244:
Step 2 Create a program prog3: DEF
Page 245 and 246:
Break Points The Break Point (BP) c
Page 247 and 248:
Inputs Step 1 Step 2 Step 3 Step 4
Page 249 and 250:
Index A absolute position absolute
Page 251 and 252:
zeroing the absolute position 79 ho
Page 253 and 254:
R skills required ii storing progra
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Gemini GV6K and Gemini GT6K Programmer's Guide

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