Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
You also want an ePaper? Increase the reach of your titles
YUMPU automatically turns print PDFs into web optimized ePapers that Google loves.
zeroing the absolute position 79<br />
host computer operation 133<br />
I<br />
I/O activation (simulation) 235<br />
I/O device interface 118<br />
IF 25<br />
using PMAS 184<br />
usng PMAS 195<br />
immediate comm<strong>and</strong>s 4, 73<br />
not stored in programs 10<br />
immediate data read from RP240 27<br />
immediate stop 16, 73<br />
in position, output function 107<br />
incremental positioning mode 72<br />
inputs<br />
analog 132<br />
application example 117<br />
enable 116<br />
status 226<br />
encoder See encoder<br />
end-of-travel limits 73, 77, 116<br />
home limits 79<br />
joystick 130<br />
PLC 119<br />
programmable 90, 118<br />
alarm event 101<br />
bit pattern 91<br />
debounce time 96<br />
end-of-travel limits 104<br />
function assignments 94, 105<br />
functions (INFNC), effect on<br />
system performance 35<br />
functions (LIMFNC), effect on<br />
system performance 35<br />
general purpose function 96<br />
home limits 104<br />
jogging 101<br />
joystick 102<br />
kill 73, 98<br />
one-to-one program select 103<br />
oper<strong>and</strong> (IN) 25<br />
pause/continue 99<br />
effect on comm<strong>and</strong> buffer 15<br />
polarity 96<br />
program security 14, 104<br />
program select 97<br />
simulating activation 235<br />
status 95<br />
status on RP240 128<br />
stop 16, 73, 98<br />
update rate 90<br />
user fault 99, 116<br />
stop 16<br />
thumbwheel 119<br />
triggers<br />
debounce time 96<br />
position capture 99<br />
programmed functions (TRGFN)<br />
100<br />
update rate 90<br />
virtual inputs 94<br />
interface options 116<br />
interrupts<br />
program (ON conditions) 29<br />
J<br />
jerk (acceleration), reducing 136<br />
jogging<br />
input functions 101<br />
RP240 jog mode 127<br />
setup 101<br />
status on RP240 127<br />
joystick<br />
application example 112, 117<br />
interface 130<br />
release input 102<br />
velocity select input 102<br />
voltage override 237<br />
JUMP 23<br />
K<br />
kill<br />
assigned input function 98<br />
effect on drive 66, 98<br />
effect on Following 194<br />
effect on multi-tasking 209<br />
kill on stall 84<br />
L<br />
labels ($) 23<br />
last motion segment, compiled motion<br />
141<br />
LEDs 220<br />
LEDs on RP240 123<br />
left-to-right math 6<br />
length, master cycle 182<br />
limits<br />
end-of-travel 77<br />
as safety feature 116<br />
effect on comm<strong>and</strong> buffer <strong>and</strong><br />
program execution 15<br />
programmed functions 104<br />
status 223<br />
used as basis to activate output<br />
108<br />
home 79<br />
programmed functions 104<br />
status on RP240 128<br />
line feed, comm<strong>and</strong> delimiter 6<br />
linear interpolation<br />
acceleration scaling 69<br />
distance scaling 69<br />
velocity scaling 69<br />
linear motion parameter calculations<br />
74<br />
lockout distance for registration 160<br />
logical operators 25<br />
loops<br />
conditional 27<br />
unconditional 23<br />
M<br />
master<br />
definition of 170<br />
status 169<br />
direction, status of 169<br />
distance<br />
move calculations 192<br />
programming (FOLMD) 174<br />
master cycle<br />
counting 182<br />
restart 183<br />
status 182<br />
length 182<br />
number 184<br />
position 182<br />
assignment/comparison 184<br />
initial 183<br />
rollover 182, 195<br />
status 184<br />
synchronizing 185<br />
status 169<br />
master cycle concept 182<br />
master input (A.K.A.) 168<br />
master position filtering 186, 187<br />
effect on accuracy 191<br />
effect on position accuracy 190<br />
status 169<br />
master position prediction 186, 187<br />
effect on accuracy 190<br />
status 169<br />
move profiles 175<br />
moving, status of 169<br />
ratio to follower 174<br />
status 169<br />
resolution 190<br />
scaling 69, 174<br />
velocity 186<br />
virtual 172<br />
mathematical operations 19<br />
maximum position error<br />
output to indicate exceeded 108<br />
mechanical cam replacement 148, 152<br />
memory<br />
allocation 11<br />
compiled motion 139<br />
cleared on bad checksum 35<br />
locking 14, 104<br />
non-volatile 35<br />
status 12<br />
menus, RP240 126<br />
messages, error 229<br />
motion<br />
Following motion status 170<br />
motion control concepts ii<br />
parameters used in conditional<br />
expressions 25<br />
pre-compiled profiles See compiled<br />
motion<br />
restrictions while in Following 195<br />
rough 196<br />
synchronize<br />
conditional GOs 163<br />
registration 159<br />
triggered conditional GOs 163<br />
triggered start of master cycle<br />
163<br />
with PMAS 185<br />
motion parameters<br />
linear applications 74<br />
Motion Planner 2<br />
communication features 38<br />
Index 241
Change language