Gemini GV6K and Gemini GT6K Programmer's Guide

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Programming Error Messages (continued) Error Response INVALID CONDITIONS FOR COMMAND INVALID CONDITIONS FOR S_CURVE ACCELERATION—FIELD n INVALID DATA Possible Cause System not ready for command (e.g., LN command issued before the L command). Following (these conditions can cause an error during Following): • The FOLMD value is too small to achieve the preset distance and still remain within the FOLRN/FOLRD ratio. • A 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. Average (AA) acceleration or deceleration command (e.g., AA, ADA, HOMAA, HOMADA, etc.) with a range that violates the equation ½A ≤ AA ≤ A (A is the max. accel or decel command—e.g., A, AD, HOMA, HOMAD, etc.) Data for a command is out of range. Following (these conditions can cause an error during Following): • The parameter supplied with the command is valid. 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 FOLMD .... Error if: master steps > 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 GOWHEN .. Error if: position > 999999999 or < -999999999 WAIT....... Error if: position > 999999999 or < -999999999 • Error if a GO command is given in the preset positioning mode (MCØ) and: FOLRN = zero FOLMD = zero, or too small (see Following chapter on page 177) INVALID FOLMAS SPECIFIED INVALID RATIO Following: An illegal master was specified in FOLMAS. A follower may never use its own commanded position or feedback source as its master. Following: Error if the FOLRN:FOLRD ratio after scaling is > 127 when a GO is executed INVALID TASK IDENTIFIER Attempting to launch a PEXE or EXE command into the supervisor task (task 0). LABEL ALREADY DEFINED MASTER SLAVE DISTANCE MISMATCH Defining a program or label with an existing program name or label name Attempting a preset Following move with a FOLMD value that is too small MAXIMUM COMMAND LENGTH EXCEEDED Command exceeds the maximum number of characters MAXIMUM COUNTS PER SECOND EXCEEDED MOTION IN PROGRESS Velocity value is greater than 1,600,000 counts/sec Attempting to execute a command not allowed during motion (see Restricted Commands During Motion on page 17.) Following: The FOLEN1 command was given while that follower was moving in a non-Following mode. 230 Gem6K Series Programmer’s Guide
Programming Error Messages (continued) Error Response NEST LEVEL TOO DEEP NO MOTION IN PROGRESS NO PATH SEGMENTS DEFINED NO PROGRAM BEING DEFINED NOT ALLOWED IF SFBØ NOT ALLOWED IN PATH NOT DEFINING A PATH NOT VALID DURING FOLLOWING MOTION NOT VALID DURING RAMP OUTPUT USED AS OUTFNC PATH ALREADY MOVING PATH NOT COMPILED STRING ALREADY DEFINED STRING IS A COMMAND UNDEFINED LABEL WARNING: POINTER HAS WRAPPED AROUND TO DATA POINT 1 WARNING: ENABLE INPUT INACTIVE WARNING: DEFINED WITH ANOTHER TW/PLC Possible Cause IFs, REPEATs, WHILEs, or GOSUBs nested greater than 16 levels (for each type) Attempting to execute a command that requires motion, but motion is not in progress Compiled Profile compilation error END command issued before a DEF command Changes to tuning commands and SMPER are not allowed if SFBØ is selected Compiled Profile path compilation error Executing a compiled profile command while not in a path 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. A FOLEN command was given during one of these conditions: • During a shift (FSHFC or FSHFD) • During a change in ratio (FOLRN/FOLRD) • During deceleration to a stop Attempted to change an output that is not a “general purpose” (OUTFNCi-A) output (see page 107) Compiled Profile compilation error Attempting to execute a individual profile that has not been compiled A string (program name or label) with the specified name already exists Defining a program or label that is a command or a variant of a command Command issued to product is not a command or program name During the process of writing data (DATTCH) or recalling data (DAT), the pointer reached the last data element in the program and automatically wrapped around to the first datum in the program ENABLE input is no longer connected to ground (GND) Duplicate I/O in multiple thumbwheel definitions Index 231
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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
Page 35 and 36:
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
Page 43 and 44:
12 Servos only: Exceeded Max. Allow
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Non-Volatile Memory The items liste
Page 48 and 49:
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
Page 95 and 96:
Encoder Count/Capture Referencing U
Page 97 and 98:
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
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: Error Messages Depending on the err
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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