Gemini GV6K and Gemini GT6K Programmer's Guide

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travel had not finished the previous cycle. This is done to allow a PMAS value which is equal to the master cycle length to be specified and reliably detected. • IF, UNTIL, & WHILE: These arguments use the instantaneous PMAS value. Be careful to avoid specifying PMAS values that are nearly equal to the master cycle length (FMCLEN), because rollover may occur before a PMAS sample is read. Compiled Motion Following profiles may be pre-compiled to save processing time. For details, refer to page 142. Troubleshooting for Following (see also Chapter 8) Following applications are often more complex than others, because motion of the followers is programmed as a function of the motion of the master. This requires the motion of the master to be well characterized and accurately specified in the program. It often requires an unfamiliar way of thinking about the motion of the desired follower. The table below offers some possible reasons for troubles which may be encountered in achieving the desired follower motion. Symptom Follower does not follow master Follower motion is Ratio seems wrong Follower profile wrong, or unrepeatable Master/follower alignment drifts over many cycles Follower lags Following position (steppers only) Possible Causes • Improper FOLMAS • Poor connection if master is encoder • Master running backward • No encoder power (when the encoder is selected as the master) • FFILT command value too low • Unnecessary FPPEN amplifies master roughness • FOLRN and FOLRD follower-to-master ratio values are inaccurate, possibly reversed • SCLD or SCLMAS wrong • Following limited by FMAXV or FMAXA (steppers only) • WAIT used where GOWHEN should be • Too little master travel between GOWHEN and GO1, desired PMAS is missed • Roundoff error due to fractional steps resulting from SCLD or SCLMAS and user's parameters • Ratios and master distances specified result in fractional follower steps covered during ramps, constant ratio • Inhibited by FMAXV • FMAXA clips acceleration peaks resulting from attempt to follow rough master 196 Gem6K Series Programmer’s Guide
Error Messages If an illegal programming condition is discovered while programming or executing programs, the Gem6K responds with an error message. If a program execution error is detected, the program is aborted. The table below lists all the error messages that relate to Following, and indicates the command and cause that may generate them. These error messages are displayed only if the error level is set to level 4 with the ERRLVL4 command (this is the default setting). Error Message FOLMAS NOT SPECIFIED INCORRECT DATA INVALID CONDITIONS FOR COMMAND INVALID DATA Cause No FOLMAS for the axis is currently specified. It will occur if FMCNEW, FSHFC, or FSHFD commands are executed and no FOLMAS command was executed, or FOLMASØ was executed. Velocity (V), acceleration (A), or deceleration (AD) command is zero. (used by FSHFC & FSHFD) The FOLMD command value is too small to achieve the preset distance and still remain within the FOLRN/FOLRD ratio. A command phase shift cannot be performed: FSHFD.............Error if already shifting or performing other time based move. FSHFC.............Error if currently executing a FSHFD move, or if currently executing another FSHFC move in the opposite direction. The FOLEN1 command was given while a profile was suspended by a GOWHEN. The parameter supplied with the command is invalid. FFILT.............Error if: smooth number is not 0-4 FMCLEN...........Error if: master steps > 999999999 or negative FMCP...............Error if: master steps > 999999999 or 999999999 or negative FOLRD.............Error if: master steps > 999999999 or negative FOLRN.............Error if: follower steps>999999999 or negative FSHFC.............Error if: number is not 0-3 FSHFD.............Error if: follower steps>999999999 or 999999999 or 999999999 or 127 when a GO is executed. Attempting a preset Following move with a FOLMD value that is too small. The FOLEN1 command was given while that follower was moving in a non-Following mode. A GO command was given while moving in the Following mode (FOLEN1) and while in the preset positioning mode (MCØ). A GO command was given while moving in a Following ramp and while in the continuous positioning mode (MC1). Following status (FS) bit #3 will be set to 1. Chapter 7. Multi-Tasking 197
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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
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Axis Status (TASF, TAS, & AS): Bit
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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: Enter/Exit Following Mode While Mov
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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