Gemini GV6K and Gemini GT6K Programmer's Guide

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COMEXS (Save Command Buffer on Stop) The COMEXS command determines the impact on motion, program execution, and the command buffer when the Gem6K receives a Stop command (S, !S, S1, or !S1) or an external Stop input (an input assigned a stop function with INFNCi-D or LIMFNCi-D). COMEXS0: Under factory default conditions (COMEXS0), when the Gem6K receives a stop command (S, !S, S1, or !S1) or a stop input (INFNCi-D or LIMFNCi-D), the following will happen: • Motion decelerates to a stop, using the present AD and ADA deceleration values. The motion profile cannot be resumed. • If S, !S or Stop input: – All commands in the Gem6K’s command buffer are discarded. – Program execution is terminated and cannot be resumed. • If S1, or !S1 (an axis number is included in the command): – All commands in the Gem6K’s command buffer are retained. – Program execution continues. COMEXS1: Using the COMEXS1 mode, the Gem6K allows more flexibility in responding to stop conditions, depending on the stop method (see table below). Stop Method What Stops Motion Program Resume Motion Profile. (Allow resume with a !C command or a resume input * ) Resume Program. (Allow resume with a !C command or a resume input * ) !S or S Yes Yes Yes Yes Yes !S1 or S1 Yes No No No Yes Stop input Yes Yes No Yes Yes Pause input * Yes Yes Yes Yes Yes (if COMEXR1) Pause input * (if COMEXR0) No Yes No Yes Yes Save Command Buffer. (Save the commands that were in the command buffer when the stop was commanded) * A Pause input is an input configured with the INFNCi-E command or the LIMFNCi-E command. This is also the Resume input that can be used to resume motion and program execution after motion is stopped. COMEXS2: Using the COMEXS2 mode, the Gem6K responds as it does in the COMEXS0 mode, with the exception that you can still use the program-select inputs to select programs (INSELP value is retained). The program-select input functions are: BCD select (INFNCi-B or LIMFNCi-B) – see page 97, and one-to-one select (INFNCi-P or LIMFNCi-P) – see page 103. 16 Gem6K Series Programmer’s Guide
Restricted Commands During Motion When motion is in progress on a given axis (or task), some commands cannot have their parameters changed until motion is complete (see table below). For the commands identified in the table, if the continuous command execution mode is enabled (COMEXC1) and you try to enter new command parameters, you will receive the error response MOTION IN PROGRESS. If the continuous command execution mode in disabled (COMEXCØ), which is the default setting, you will receive the response MOTION IN PROGRESS only if you precede the command with the immediate (!) modifier (e.g., !V2Ø); if you enter a command without the immediate modifier (e.g., V2Ø), you will not receive an error response and the new parameter will be ignored and the old parameter will remain in effect. Multi-Tasking If you are using multi-tasking, the restriction on commands is applicable only for the task to which the command is direct. For example, suppose axes 1 and 2 are associated with Task 1 (TSKAX1,2) and axes 3 and 4 are associate with Task 2 (TSKAX3,4). If motion is in progress on axes 1 and 2, Task 1 is considered “in motion” and Task 1 cannot execute a command from the list below. However, while motion is in progress in Task 1 and not Task 2, Task 2 may execute these commands without encountering an error. All of the commands in the table below, except for SCALE, are axis-dependent. That is, if one axis is moving you can change the parameters on the other axes, provided they are not in motion. Command Description Command Description CMDDIR.........Commanded Direction Polarity JOY............... Joystick Mode Enable DRES .............Drive Resolution JOYA............. Joystick Acceleration DRIVE...........Drive Shutdown JOYAA .......... Average Joystick Acceleration ENCPOL.........Encoder Polarity JOYAD .......... Joystick Deceleration ERES .............Encoder Resolution JOYADA ........ Average Joystick Deceleration FOLEN...........Following Mode Enable JOYVH .......... Joystick Velocity High HOM ...............Go Home JOYVL .......... Joystick Velocity Low HOMA .............Home Acceleration LHAD............. Hard Limit Deceleration HOMAA...........Average Home Acceleration LHADA .......... Average Hard Limit Deceleration HOMAD...........Home Deceleration LSAD............. Soft Limit Deceleration HOMADA.........Average Home Deceleration LSADA .......... Average Soft Limit Deceleration HOMV .............Home Velocity PSET............. Establish Absolute Position HOMVF...........Home Final Velocity SCALE .......... Enable/Disable Scale Factors * JOG ...............Jog Mode Enable JOGA .............Jog Acceleration JOGAA...........Average Jog Acceleration JOGAD...........Jog Deceleration JOGADA.........Average Jog Deceleration JOGVH...........Jog Velocity High JOGVL...........Jog Velocity Low SCLA............. Acceleration Scale Factor SCLD............. Distance Scale Factor SCLV............. Velocity Scale Factor * If any axis is in motion, you will cause an error if you attempt to change this command's parameters. Chapter 1. Programming Fundamentals 17
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 and 22: Storing Programs After a program or
Page 23 and 24: Executing Programs (options) Follow
Page 25: In the programming example below, b
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
Page 73 and 74: Basic Operation Setup 3C HAPTER THR
Page 75 and 76: Position loop ratio ...............
Page 77 and 78:
Scaling Units of Measure without Sc
Page 79 and 80:
Use the following equations to dete
Page 81 and 82:
Positioning Modes The Gem6K control
Page 83 and 84:
Continuous Positioning Mode The Con
Page 85 and 86:
Linear Position • D (distance)
Page 87 and 88:
End-of-Travel Limits Related Comman
Page 89 and 90:
Homing (Using the Home Inputs) Refe
Page 91 and 92:
Figure C: Home Profil
Page 93 and 94:
Homing Using The Z-Channel Figures
Page 95 and 96:
Encoder Count/Capture Referencing U
Page 97 and 98:
Filter Adjustments If the previous
Page 99 and 100:
Target Zone Mode (move completion c
Page 101 and 102:
Programmable I/O Bit Patterns The G
Page 103 and 104:
Expansion I/O Bricks The Gem6K prod
Page 105 and 106:
Letter Designator Function A ......
Page 107 and 108:
BCD Program Select • LIMFNCi-B
Page 109 and 110:
Pause/Continue • LIMFNCi-E • IN
Page 111 and 112:
Code Examples INFNC1-H ; Assign tri
Page 113 and 114:
One-to-One Program Select • LIMFN
Page 115 and 116:
Output Functions The Gem6K product
Page 117 and 118:
• Relationships: Output Type OUTL
Page 119 and 120:
Output on Position (OUTFNCi-H) The
Page 121 and 122:
2. Teach the Data to the Data Progr
Page 123 and 124:
Step 2 Define the SETUP Subroutine.
Page 125 and 126:
Product Control Options 4 CHAPTER F
Page 127 and 128:
RP240 (see page 123) Joystick (see
Page 129 and 130:
Thumbwheels You can connect the con
Page 131 and 132:
• ANO (set an analog output volta
Page 133 and 134:
RP240 Remote Operator Panel Gem6K S
Page 135 and 136:
Programming Example DEF panel1 ; De
Page 137 and 138:
Running a Stored Program or
Page 139 and 140:
LIMITS Menu: • The POS, NEG and H
Page 141 and 142:
To Set Up Joystick Operation (refer
Page 143 and 144:
Host Computer Interface Another cho
Page 145 and 146:
Custom Profiling 5C HAPTER FIVE Cus
Page 147 and 148:
Acceleration Setting Profiling Cond
Page 149 and 150:
Compiled Motion Profiling Gem6K Ser
Page 151 and 152:
Axis Status (TASF, TAS, & AS): Bit
Page 153 and 154:
product of master travel and averag
Page 155 and 156:
like: MC0 ; Preset incremental posi
Page 157 and 158:
POUTA Output During Compiled Motion
Page 159 and 160:
Profile Program ; Setup code F
Page 161 and 162:
Compiled Motion — Sample Applicat
Page 163 and 164:
The table below shows these relatio
Page 165 and 166:
On-the-Fly Motion (pre-emptive GOs)
Page 167 and 168:
Scenario #2: OTF change of distance
Page 169 and 170:
Registration A “registration inpu
Page 171 and 172:
Registration — Sample Application
Page 173 and 174:
Registration — Sample Application
Page 175 and 176:
ER.14 .......Assignment & compariso
Page 177 and 178:
Following 6C HAPTER SIX Following I
Page 179 and 180:
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 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 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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Gemini GV6K and Gemini GT6K Programmer's Guide

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