Gemini GV6K and Gemini GT6K Programmer's Guide

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The table below identifies memory allocation defaults and limits for all Gem6K Series products. When specifying the memory allocation, use only even numbers. The minimum storage capacity for one partition area (program or compiled) is 1,000 bytes. Feature All Other Products Total memory (bytes) 300,000 Default allocation (program,compiled) 150000,150000 Maximum allocation for programs 299000,1000 Maximum allocation for compiled profiles 1000,299000 & PLC programs Max. # of programs 400 Max. # of labels 600 Max. # of compiled profiles & PLC programs 300 Max. # of compiled profile segments 2069 Max. # of numeric variables (VAR) 225 Max. # of integer variables (VARI) 225 Max. # of binary variables (VARB) 125 Max. # of string variables (VARS) 25 When teaching variable data to a data program (DATP), be aware that the memory required for each data statement of four data points (43 bytes) is taken from the memory allocation for program storage (see Variable Arrays in Chapter 3, page 110, for details). CAUTION Using a memory allocation command (e.g., MEMORY200000,100000) will erase all existing programs and compiled profile segments & PLC programs. However, issuing the MEMORY command without parameters (i.e., type MEMORY to request the status of how the memory is allocated) will not affect existing programs or compiled segments/programs. Checking Memory Status To find out what programs reside in your controller's memory, and how much of the available memory is allocated for programs and compiled profile segments, issue the TDIR command (see example response below). Entering the TMEM command or the MEMORY command (without parameters) will also report the available memory for programs and compiled profile segments. Sample response to TDIR command *1 - SETUP USES 345 BYTES *2 - PIKPRT USES 333 BYTES *149322 OF 150000 BYTES (98%) PROGRAM MEMORY REMAINING *1973 OF 1973 SEGMENTS (100%) COMPILED MEMORY REMAINING Two system status bits (reported with the TSS and SS commands) are available to check when compiled profile segment storage is 75% full or 100% full. System status bit #29 is set when segment storage reaches 75% of capacity; bit #30 indicates when segment storage is 100% full. 12 Gem6K Series Programmer’s Guide
Executing Programs (options) Following is a list of the primary options for executing programs stored in your controller: Method Description See Also Execute from a terminal Type in the name of the program and press enter; or write a ------- emulator program to prompt the operator to select a program from the terminal. Execute as a subroutine from a “main” program Execute automatically when the controller is powered up Execute from a PLC program Execute a specific program with BCD weighted inputs Execute a specific program with a dedicated input “Call” from a high-level program Execute from an RP240 (remote operator interface) Execute from your own custom Windows program Use a branch (GOTO, GOSUB, or JUMP) from the main program to execute another stored program. Assign a specific program as a startup program with the STARTP command. When you RESET or cycle power to the controller, the startup program is automatically executed. Write a PLC program that executes a program (using EXE or PEXE) based on a specific condition (e.g., input state). Use the SCANP command to launch the PLC program in the PLC Scan Mode. Define programmable inputs to function as BCD select inputs, each with a BCD weight. A specific program (identified by its number) is executed based on the combination of active BCD inputs. Related commands: INSELP and INFNCi-B or LIMFNCi-B. Define a programmable input to execute a specific program (by number). Related commands: INSELP and INFNCi-iP or LIMFNCi-P. Using a programming language such as BASIC or C, write a program that enables the computer to monitor processes and orchestrate motion and I/O by executing stored programs (or individual commands) in the controller. Execute a stored program from the RUN menu in the RP240’s standard menu system. Use a programming language (e.g., Visual Basic, Visual C++, etc.) and the Gem6K Communications Server (provided on the Motion Planner CD) to create your own windows application to control the Gem6K product. Also included with Motion Planner is PanelMaker, a Visual Basic scripting tool for developing your own customer user interfaces. Page 23 Page 13 Page 120 Page 97 Page 103 Page 133 Page 127 --------- Creating and Executing a Set-up Program Wizards Can Help: The Motion Planner Start Wizard helps you with these setup programming tasks: • Create a Setup program that configures drives, feedback devices, scaling, limits (end of travel and home), and servo tuning. • Create a Main program, establish it as the power-up (STARTP) program, and include a GOSUB to the Setup program. The intent of the Setup program is to place the Gem6K controller in a ready state for subsequent motion control. The setup program must be called from the “main” program for your application; or you can designate (with STARTP) the setup program as the program to be automatically executed when the Gem6K product is powered up or when the RESET command is executed. The setup program typically contains elements such as feedback device configuration, tuning gain selections, programmable I/O definitions, scaling, homing configuration, variable initialization, etc. (more detail on these “basic” features is provided in Chapter 3, Basic Operation Setup). The basic process of creating a setup program is: 1. Create a program to be used as the setup program. 2. Save the program and download it to the Gem6K product. 3. Execute the STARTP command to assign your new program as the “start-up” program (e.g., STARTP setup assigns the program called “setup” as the start-up program). The next time the controller is powered up or reset, the assigned STARTP program will be executed. Or call the setup program from the main program for your application. Chapter 1. Programming Fundamentals 13
Page 1 and 2: p/n 88-019934-01 A Automation Gemin
Page 3 and 4: CONTENTS OVERVIEW..................
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: Storing Programs After a program or
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
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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
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like: MC0 ; Preset incremental posi
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POUTA Output During Compiled Motion
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Profile Program ; Setup code F
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Compiled Motion — Sample Applicat
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The table below shows these relatio
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On-the-Fly Motion (pre-emptive GOs)
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Scenario #2: OTF change of distance
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Registration A “registration inpu
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Registration — Sample Application
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Registration — Sample Application
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ER.14 .......Assignment & compariso
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Following 6C HAPTER SIX Following I
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Following Status (TFSF, TFS & FS Co
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• Sign bit (±): Specifies the co
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epeatedly issues the command with s
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Enable the Following Mode; (FOLEN1)
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Preset Positioning Mode Moves For p
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Phase Shift Examples FSHFC Example
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A FGADV move may not be performed:
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Example Code cycle length is less t
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Finally, master cycle counting rest
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Master Position Prediction Master P
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Maximum Velocity and Acceleration (
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Master Velocity Relative to Master
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When the Follower is in Preset Posi
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Enter/Exit Following Mode While Mov
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Error Messages If an illegal progra
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Status and Assignment Commands: TAS
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Multi-Tasking 7 CHAPTER SEVEN Multi
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• Axis ..........................
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GEM6K Resources I/O Serial Ports Et
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GEM6K Resources Supervisor Program
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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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Gemini GV6K and Gemini GT6K Programmer's Guide

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