Gemini GV6K and Gemini GT6K Programmer's Guide

CONTENTS
OVERVIEW.................................................................. I
About This Manual......................................................i
Organization of This Manual...................................i
Programming Examples..........................................ii
Reference Documentation.......................................ii
Assumptions of Technical Experience....................ii
Before You Begin......................................................iii
Install and Use Motion Planner .............................iii
Technical Support......................................................iii
PROGRAMMING FUNDAMENTALS ..................... 1
Motion Planner Programming Environment............... 2
Wizard-Based Programming................................... 2
Native Code Programming ..................................... 3
Command Syntax........................................................ 4
Introduction ............................................................ 4
Description of Syntax Letters and Symbols............ 5
General Guidelines for Syntax................................ 6
Command Value Substitutions ............................... 7
Assignment and Comparison Operators ................. 7
Programmable Inputs and Outputs Bit Patterns...... 9
Creating Programs .................................................... 10
Program Example ................................................. 10
Storing Programs ...................................................... 11
Memory Allocation............................................... 11
Checking Memory Status...................................... 12
Executing Programs (options) .................................. 13
Creating and Executing a Set-up Program................ 13
Program Security ...................................................... 14
Controlling Execution of Programs and the Command
Buffer........................................................................ 14
COMEXC (Continuous Command Execution)..... 14
COMEXL (Save Command Buffer on Limit) ...... 15
COMEXR (Effect of Pause/Continue Input) ........ 15
COMEXS (Save Command Buffer on Stop) ........ 16
Restricted Commands During Motion...................... 17
Variables................................................................... 18
Converting Between Binary and Numeric Variables
.............................................................................. 18
Using Numeric (VAR and VARI) Variables.......... 19
Using Binary Variables......................................... 22
Unconditional Looping and Branching................. 23
Conditional Looping and Branching..................... 25
Program Interrupts (ON Conditions) ........................ 29
Error Handling.......................................................... 30
Enabling Error Checking ...................................... 31
Defining the Error Program .................................. 31
Canceling the Branch to the Error Program.......... 32
Error Program Set-up Example............................. 34
Non-Volatile Memory .............................................. 35
System Performance..................................................35
COMMUNICATION..................................................37
Communication Options ...........................................38
Motion Planner Communication Features.................38
Ethernet Networking .................................................39
Overview...............................................................39
Networking Guidelines .........................................42
Configuring the Gem6K for Ethernet
Communication.....................................................43
Networking with Other 6K or Gem6K Products
(Peer-to-Peer) ........................................................46
Networking with OPTO22 SNAP I/O...................48
Networking with a DVT Vision System ...............50
Networking with an Allen-Bradley SLC 5/05 PLC
...............................................................................51
Error Conditions....................................................54
Serial Communication...............................................56
Controlling Multiple Serial Ports ..........................56
RS-232C Daisy-Chaining......................................57
Daisy-Chaining and RP240s .................................60
RS-485 Multi-Drop ...............................................60
BASIC OPERATION SETUP....................................63
Before You Begin .....................................................64
Setup Parameters Discussed in this Chapter .........64
Using a Setup Program..........................................65
Resetting the Controller ........................................65
Memory Allocation ...................................................65
Drive Setup ...............................................................66
Drive Stall Detection (stepper only)......................66
Drive Resolution (stepper only) ............................66
Disable Drive On Kill (servo only) .......................66
Scaling.......................................................................67
Units of Measure without Scaling.........................67
What is Scaling....................................................67
When Should I Define Scaling Factors ...............67
Acceleration & Deceleration Scaling (SCLA).......68
Velocity Scaling (SCLV)......Error! Bookmark not
defined.
Distance Scaling (SCLD and SCLMAS)......... Error!
Bookmark not defined.
Positioning Modes.....................................................71
Preset Positioning Mode........................................72
Continuous Positioning Mode...............................73
End-of-Travel Limits ................................................77
Homing (Using the Home Inputs) .............................79
Encoder-Based Stepper Operation (stepper only) .....84
Encoder Resolution ...............................................84
Stall Detection & Kill-on-Stall..............................84
Encoder Set Up Example ......................................84