Gemini GV6K and Gemini GT6K Programmer's Guide

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Variables Gem6K Series controllers have four types of variables, each designated with a different command. All four types are automatically stored in non-volatile memory. Type Command Quantity Function Numeric (real) VAR 225 Store real numeric data (range is ±999,999,999.99999999). Can be used to perform mathematical (=, +, -, *, /, SQRT), trigonometric (ATAN, COS, PI, SIN, TAN), and Boolean (&, |, ^, ~) operations. Can also be used to store (“teach”) variable data in variable arrays (called data programs) and later use the stored data as a source for motion program parameters (see Variable Arrays on page 110 for details). Integer VARI 225 Store integer numeric data (range is ±2,147,483,647). Can be used to perform mathematical (=, +, -, *, /) and Boolean (&, |, ^, ~) operations. Binary VARB 125 Store 32-bit binary or hexadecimal values. Can also store the binary status bits from status registers. Frequently used registers are: inputs (IN), outputs (OUT), limits (LIM), system (SS), Following (FS), axis (AS & ASX), and error (ER). For example, the VARB2=IN.3 command assigns the binary state of input 12 to binary variable 2. Also use to perform bitwise operations (&, |, ^, ~, >>,
Using Numeric (VAR and VARI) Variables NOTES • The examples below show the use of real numeric variables (VAR). Integer variables may be used in the same operations with these exceptions: - Values are truncated to nearest integer value - Operations using square root (SQRT) and trigonometric (ATAN, COS, PI, SIN, TAN) operators are not allowed • Some numeric variable operations reduce precision. The following operations reduce the precision of the return value: Division and Trigonometric functions yield 5 decimal places; Square Root yields 3 decimal places; and Inverse Trigonometric functions yield 2 decimal places. Mathematical Operations The following examples demonstrate how to perform math operations with numeric variables. Operator precedence occurs from left to right (e.g., VAR1=1+1+1∗3 sets VAR1 to 9, not 5). Addition (+) Example Response VAR1=5+5+5+5+5+5+5 VAR1 *VAR1=35.0 VAR23=1000.565 VAR11=VAR1+VAR23 VAR11 *VAR11=+1035.565 VAR1=VAR1+5 VAR1 *VAR1=+40.0 Subtraction (-) Example Response VAR3=20-10 VAR20=15.5 VAR3=VAR3-VAR20 VAR3 *VAR3=-5.5 Multiplication (*) Example Response VAR3=10 VAR3=VAR3*20 VAR3 *VAR3=+200.0 Division (/) Example Response VAR3=10 VAR20=15.5 VAR20 *+15.5 VAR3=VAR3/VAR20 VAR3 *+0.64516 VAR30=75 VAR30 *+75.0 VAR19=VAR30/VAR3 VAR19 *+116.25023 Square Root (SQRT) Example Response VAR3=75 VAR20=25 VAR3=SQRT(VAR3) VAR3 *+8.660 VAR20=SQRT(VAR20)+SQRT(9) VAR20 *+8.0 Chapter 1. Programming Fundamentals 19
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 and 26: In the programming example below, b
Page 27: Restricted Commands During Motion W
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
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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
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Letter Designator Function A ......
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BCD Program Select • LIMFNCi-B
Page 109 and 110:
Pause/Continue • LIMFNCi-E • IN
Page 111 and 112:
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
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.
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Product Control Options 4 CHAPTER F
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RP240 (see page 123) Joystick (see
Page 129 and 130:
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
Page 147 and 148:
Acceleration Setting Profiling Cond
Page 149 and 150:
Compiled Motion Profiling Gem6K Ser
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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
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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
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Following 6C HAPTER SIX Following I
Page 179 and 180:
Following Status (TFSF, TFS & FS Co
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• 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
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Error Messages If an illegal progra
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Status and Assignment Commands: TAS
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Multi-Tasking 7 CHAPTER SEVEN Multi
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• Axis ..........................
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GEM6K Resources I/O Serial Ports Et
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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
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Troubleshooting 8 CHAPTER EIGHT Tro
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Problem Cause Solution Direction is
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Program Debug Tools After creating
Page 233 and 234:
TASF Reports axis-specific conditio
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TSTAT Reports general system setup
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TERF Reports error conditions. ** *
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Error Messages Depending on the err
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Programming Error Messages (continu
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Step 2 Create a program prog3: DEF
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Break Points The Break Point (BP) c
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Inputs Step 1 Step 2 Step 3 Step 4
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Index A absolute position absolute
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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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