Gemini GV6K and Gemini GT6K Programmer's Guide

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GO1 command will not actually be completed until the master has traveled at least 10 revolutions in the positive direction from where it was at the time the GO1 command was executed. If the master oscillates back and forth between it's position at the start of the GO1 command to just under 10 revolutions, the follower will oscillate back and forth as well. The master must be counting in the positive direction for any preset (MCØ) GO1s commanded on the follower to be completed. If mechanics of the system dictate that the count on the source of the master pulses is negative, a minus (-) sign should be entered in the FOLMAS command so that Gem6K sees the master counts as positive. Continuous follower moves (MC1) react much differently to master pulse direction. Whereas a preset move will only start the profile if the master counts are counting in the positive direction, a continuous move will begin the ramp to its new ratio following the master in either direction. As long as the master is counting in the positive direction, the direction towards which the follower starts in a continuous move is determined by the argument (sign) of the D command. The follower direction is positive for D+ and negative for D-. If the master is counting in the negative direction when follower begins a continuous move, the direction towards which the follower moves is opposite to that commanded with the D command. The follower direction is positive for D- and negative for D+. If the master changes direction during a continuous follower move, the follower will also reverse direction. As with standard continuous moves, the GO1 will continue until terminated by S, K, end-of-travel limits, stall condition, or command to go to zero velocity. As with preset moves, the sign on the FOLMAS command determines the direction of master counting with respect to the direction of actual counting on the master input. Master and Follower Distance Calculations The formulas below show the relationship between master move distances and the corresponding follower move distances. These relationships may be used to assist in the design of Following mode moves in which both the position and duration of constant ratio are important. In such calculations, it is helpful to use SCLMAS and SCLD values which allow the master and follower distances to be expressed in the same units (e.g., inches or millimeters). In this case, many applications will be designed to reach a final ratio of 1:1, and the distances in these figures can be easily calculated. ☞ HINT: For a trapezoidal preset follower axis move with a maximum ratio of 1:1, the master and follower distances during the constant ratio portion will be the same. The follower travel during acceleration will be exactly half of the corresponding master travel, and it will also occur during deceleration. Master Distance (FOLMD) The FOLMD command determines the master distance over which the acceleration (mode continuous moves – MC1) or the entire move (preset moves – MCØ) takes place. If the follower axis is in continuous positioning mode (MC1), FOLMD is the master distance over which the follower axis is to accel or decel from the current ratio to the new ratio. If the follower axis is in preset positioning mode (MCØ), FOLMD is the master distance over which the follower's entire move will take place. When the Follower is in Continuous Positioning Mode (MC1) D = FOLMD * (R 2 + R 1 ) 2 where: FOLMD = Master distance R 2 = New ratio (FOLRN ÷ FOLRD) R 1 = Current ratio (FOLRN ÷ FOLRD) D = Follower distance traveled during ramp 192 Gem6K Series Programmer’s Guide
When the Follower is in Preset Positioning Mode (MCØ) Trapezoidal Follower Moves D max = (FOLMD * R max ) D 1 = (D max - D) 2 MD 1 = 2 * D 1 R max D 2 = D - (2 * D 1 ) MD 2 = D 2 R max FOLMD = (2 * MD 1 ) + MD 2 where: FOLMD = Master distance MD 1 = Master distance during accel & decel ramps MD 2 = Master distance during constant ratio D = Total follower axis preset distance commanded D 1 = Follower travel during accel and decel ramps D 2 = Follower travel during constant ratio D max = Maximum follower distance possible (assuming no accel or decel) R max = Maximum ratio = FOLRN ÷ FOLRD These Profiles depict ratio vs. distance Trapezoidal profile if: D = (D 2 + 2 * D 1 ) < D max Rectangular profile if: D 2 = D D 1 = zero MD 2 = FOLMD MD 1 = zero R max Ratio Ratio R max D 1 D 2 D 1 MD 1 MD 2 MD 1 Distance D 2 MD 2 Distance Triangular Follower Moves D = R peak * FOLMD 2 where: FOLMD = Master distance R peak = Peak ratio reached during move D = Total follower distance Triangular profile if: R max D < 1/2 D max Ratio D R peak This Profile depicts ratio vs. distance FOLMD Distance Distance Calculation Example In the example below, the desired travel during constant ratio is already contained in numeric variable #1 (VAR1), and may have been read from thumbwheels or a DATA command. The corresponding follower move distance (D) and FOLMD are calculated as shown: VAR2=2 ; Desired follower travel during accel and decel combined VAR3=2 * VAR2 ; Required master travel during these ramps VAR4=VAR1 + VAR2 ; Move distance is constant ratio portion plus ramps VAR5=VAR1 + VAR3 ; Master travel for entire follower move FOLMD(VAR5) ; Establish calculated master travel D(VAR4) ; Establish calculated follower travel GO1 ; Make desired follower move Similar calculations may be done for a series of continuous move ramps to ratios, separated by GOWHEN for master cycle positions. These ramps may be repeated in a loop to create a Chapter 7. Multi-Tasking 193
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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.
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Product Control Options 4 CHAPTER F
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RP240 (see page 123) Joystick (see
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Thumbwheels You can connect the con
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• ANO (set an analog output volta
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RP240 Remote Operator Panel Gem6K S
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Programming Example DEF panel1 ; De
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Running a Stored Program or
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LIMITS Menu: • The POS, NEG and H
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To Set Up Joystick Operation (refer
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Host Computer Interface Another cho
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Custom Profiling 5C HAPTER FIVE Cus
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Acceleration Setting Profiling Cond
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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: Master Velocity Relative to Master
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
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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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