Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
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setup program tool 13<br />
move completion criteria 89<br />
moving/not moving status 107, 223<br />
multi-drop, RS-485 60<br />
multiple serial ports, controlling 56<br />
multi-tasking 201<br />
affected by kill 209<br />
conditions used in conditional<br />
expressions 27<br />
performance considerations 214<br />
programmed I/O functions 213<br />
sharing system resources 210<br />
task identifier (%) 6, 206, 211<br />
task-specific resources 211<br />
N<br />
negative-direction end-of-travel limits<br />
See limit, end-of-travel<br />
Networking 39<br />
neutral characters 6<br />
noise, electrical See installation guide<br />
numeric variables 18<br />
in conditional expression 25<br />
NWHILE 28<br />
O<br />
on conditions (program interrupts) 29<br />
effect on system performance 35<br />
one-to-one program select input 103<br />
on-line help for Windows 2<br />
on-line manuals ii<br />
on-the-fly motion changes 71, 155<br />
compare with compiled motion 145<br />
operating system upgrades 238<br />
operator interface<br />
host computer operation 133<br />
RP240 remote panel 123<br />
operators<br />
assignment & comparison 7<br />
correlated to status comm<strong>and</strong>s<br />
228<br />
used in conditional expressions<br />
25<br />
bit select 9<br />
bitwise 9<br />
logic 9<br />
math 9<br />
relational 9<br />
outputs<br />
activate on position 109<br />
output on position 109<br />
programmable 90, 118<br />
bit pattern 91<br />
fault output 108<br />
function assignments 105<br />
functions (OUTFNC), effect on<br />
system performance 35<br />
general purpose function 107<br />
limit encountered 108<br />
max position error exceeded 108<br />
moving/not moving 107<br />
oper<strong>and</strong> (OUT) 25<br />
output on position 109<br />
P<br />
polarity 106<br />
program in progress 107<br />
simulating activation 235<br />
stall indicator 108<br />
status 106<br />
status on RP240 128<br />
update rate 90<br />
update rate 90<br />
partitioning memory 11<br />
password, RP240 129<br />
pause active, status 226<br />
pause key on RP240 123<br />
pause, effect on Following motion 195<br />
pause/continue input 99<br />
effect on motion & program<br />
execution 15<br />
performance, effects on 35<br />
performance, Following 186<br />
performance, multi-tasking 214<br />
phase, shift 178<br />
PLC interface 119<br />
application example 117<br />
PLC scan mode 120<br />
point-to-point move 72<br />
polarity<br />
comm<strong>and</strong>ed direction<br />
causes reversed direction 219<br />
programmable inputs 96<br />
programmable outputs 106<br />
position<br />
absolute 72<br />
establish 72<br />
accuracy, Following 190<br />
analog inputs 132<br />
capture 99<br />
comm<strong>and</strong>ed 85<br />
encoder 85<br />
registration 159<br />
comm<strong>and</strong>ed<br />
capture 99<br />
RP240 display 128<br />
comm<strong>and</strong>ed position calculation,<br />
Following 188<br />
encoder 26<br />
capture 99<br />
RP240 display 128<br />
error 219<br />
exceeded max. limit<br />
status 223<br />
max. allowable 116<br />
RP240 display 128<br />
follower axis 178<br />
incremental 72<br />
master See master<br />
positioning modes 71<br />
change on the fly 71, 155<br />
sampling period 186<br />
effect on Following accuracy 190<br />
status<br />
RP240 display 128<br />
used to active an output 109<br />
zeroed after homing 79<br />
positive-direction end-of-travel limits<br />
See limit, end-of-travel<br />
power-up start program (STARTP) 13<br />
clear RP240 menus 125<br />
Following setup comm<strong>and</strong>s 171<br />
will not execute 220<br />
prediction of master position 187. See<br />
master, master position prediction<br />
pre-emptive GOs See on-the-fly<br />
motion changes<br />
preset positioning mode 72<br />
Following 177, 191<br />
distance calculations 193<br />
profiling, custom 135<br />
program<br />
branch<br />
conditionally 25<br />
unconditionally 23<br />
comments 6<br />
creating 10<br />
debug tools 221<br />
editing in Motion Planner 2<br />
error h<strong>and</strong>ling 30<br />
error responses 229<br />
examples, using ii<br />
execution<br />
controlling 14<br />
from RP240 menu 127<br />
options 13<br />
execution status 226<br />
interrupts 29<br />
labels ($) 23<br />
loop<br />
conditionally 25<br />
unconditionally 23<br />
memory allocation 11<br />
multi-tasking 202<br />
power-up program 13<br />
program example 10<br />
programming guidelines 1<br />
scan programs in PLC mode 120<br />
security 14<br />
setup (configuration) program 13<br />
storage 11<br />
program in progress 107<br />
programmable inputs See inputs,<br />
programmable<br />
programmable outputs See outputs,<br />
programmable<br />
programming<br />
creating programs 10<br />
debug tools 221<br />
debugging via RP240 127<br />
error messages 229<br />
error programs 34, 116<br />
examples, using ii<br />
executing programs<br />
options 13<br />
preparing to program iii<br />
program example 10<br />
program security 104<br />
program selection<br />
BCD 97<br />
one-to-one 103<br />
sample programs provided ii<br />
scan programs in PLC mode 120<br />
set-up program 13<br />
242 Gem6K Series Programmer’s <strong>Guide</strong>
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