Gemini GV6K and Gemini GT6K Programmer's Guide

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Status Commands Status commands are provided to assist your diagnostic efforts. These commands display status information such as, axis-specific conditions, general system conditions, error conditions, etc. Checking Specific Setup Parameters One way to check the conditions that are established with a specific setup command is to simply type in the command name without parameters. For example, type “ERES” to check the encoder resolution setting; the response would look something like: *ERES4ØØØ. Refer to page 64 for a list of most setup parameters and their respective commands. TIP: To send a status command to the Gem6K product during program execution, prefix the command with an “!” (e.g., !TASF). Below is a list of the status commands that are commonly used for diagnostics. Additional status commands are available for checking other elements of your application (see List of All Status Commands below). For more information on each status command, refer to the respective command description in the Gem6K Series Command Reference. SPECIAL NOTATIONS * The command has a binary report version (just leave the “F” off when you type it in—e.g., TAS). This is used more by experienced Gem6K programmers. Using the binary report command, you can check the status of one particular bit (e.g., The TAS.1 command reports “1” if motor is moving or “Ø” if it is not moving.). In the binary report the bits are numbered left to right, 1 through n. A “1” in the binary report correlates to a “YES” in the full text report, and a “Ø” correlates to a “NO” in the full text report. † The command has an assignment/comparison operator that uses the bit status for conditional expressions and variable assignments. For example, the WAIT(1AS.1=bØ) command pauses program execution until status bit number 1 (1AS.1) reports a binary zero value (indicates that the motor is notmoving). See page 7 and page 25 for more information on using assignment and comparison operators in conditional expressions and variable assignments. 222 Gem6K Series Programmer’s Guide
TASF Reports axis-specific conditions. * (TAS) † (AS) 1. Axis is in motion (commanded) 17. Positive-direction software limit (LSPOS) encountered 2. Direction is negative 18. Negative-direction software limit (LSNEG) encountered 3. Accelerating (n/a to deceleration) 19. Within Deadband (steppers) Within deadband (EPMDB) — steppers only 4. At velocity 20. RESERVED In position (COMEXP) 5. Home Successful (HOM) 21. RESERVED 6. In absolute positioning mode (MA) 22. RESERVED 7. In continuous positioning mode (MC) 23. Position error limit is exceeded (SMPER) (servos) 8. In Jog Mode (JOG) 24. Load is within Target Zone (STRGTD & STRGTV) (servos) 9. In Joystick Mode (JOY) 25. Target Zone timeout occurred (STRGTT) (servos) 10. RESERVEDIn Encoder Step Mode (ENC) — steppers 11. Position Maintenance Mode (steppers)Position Maintenance on (EPM) — steppers 26. Motion suspended, pending GOWHEN 27. RESERVED 12. Stall detected (ESTALL) (steppers) 28. Registration move occurred since last GO 13. Drive shutdown occurred 29. GOWHEN Error: Input or position true before Go 14. Drive fault occurred 30. Pre-emptive (OTF) GO or Registration profile not possible 15. Positive-direction hardware limit hit 31. Compiled GOBUF profile is executing 16. Negative-direction hardware limit hit 32. RESERVED Index 223
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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
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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
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: Program Debug Tools After creating
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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