Gemini GV6K and Gemini GT6K Programmer's Guide

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Using Binary Variables The following examples illustrate the Gem6K Series product's ability to perform bitwise functions with binary variables. Storing binary values. The Gem6K Series Language allows you to store binary numbers in the binary variables (VARB) command. The binary variables start at the left with the least significant bit, and increase to the right. For example, to set bit 1, 5, and 7 you would issue the command VARB1=b1xxx1x1. Notice that the letter b is required. When assigning a binary variable, any bit set to “x” remains “x” until set to “1” or “0”. Any bit that is unspecified is set to “x”. To change, or check, one bit without affecting the others, use the bitselect operator (e.g., use VARB1.3-1 to set only bit #3 of VARB1). Example VARB1=b1101XX1 Response *VARB1=1101_XX1X_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX Storing hexadecimal values. Hexadecimal values can also be stored in binary variables (VARB). The hexadecimal value must be specified the same as the binary value—left is least significant byte, right is most significant. For example, to set bit 1, 5, and 7 you would issue the command VARB1=h15. Notice that the letter h is required. NOTE: When assigning a hexadecimal value to a binary variable, all unspecified bits are set to zero. Example VARB1=h7FAD VARB1 Response *VARB1=1110_1111_0101_1011_0000_0000_0000_0000 Bitwise And (&) Example Response VARB1=b1101 VARB1 *VARB1=1101_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX VARB1=VARB1 & bXXX1 1101 VARB1 *VARB1=XX01_XX0X_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX VARB1=h0032 FDA1 & h1234 43E9 VARB1 *VARB1=0000_0000_1100_0000_0010_1000_0101_1000 Bitwise Or (|) Example Response VARB1=h32FD VARB1 *VARB1=1100_0100_1111_1011_0000_0000_0000_0000 VARB1=VARB1 | bXXX1 1101 VARB1 *VARB1=11X1_1101_1111_1X11_XXXX_XXXX_XXXX_XXXX VARB1=h0032 FDA1 | h1234 43E9 VARB1 *VARB1=1000_0100_1100_0110_1111_1111_0111_1001 Bitwise Exclusive Or (^) Example Response VARB1=h32FD ^ bXXX1 1101 VARB1 *VARB1=XXX1_1001_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX VARB1=h0032 FDA1 ^ h1234 43E9 VARB1 *VARB1=1000_0100_0000_0110_1101_0111_0010_0001 Bitwise Not (~) Example Response VARB1=~(h32FD) VARB1 *VARB1=0011_1011_0000_0100_1111_1111_1111_1111 VARB1=~(b1010 XX11 0101) VARB1 *VARB1=0101_XX00_1010_XXXX_XXXX_XXXX_XXXX_XXXX Shift Left to Right (>>) Example Response VARB1=h32FD >> h4 VARB1 *VARB1=0000_1100_0100_1111_1011_0000_0000_0000 VARB1=b1010 XX11 0101 >> b11 VARB1 *VARB1=0001_010X_X110_101X_XXXX_XXXX_XXXX_XXXX Shift Right to Left (
Program flow refers to the order in which commands will be executed, and when or whether they will be executed at all. In general, commands are executed in the order in which they are received. However, certain commands can redirect the order in which commands will be processed. You can affect program flow with: • Unconditional Loops and Branches • Conditional Loops and Branches Unconditional Looping and Branching Unconditional Looping The Loop (L) command is an unconditional looping command. You may use this command to repeat the execution of a group of commands for a predetermined number of iterations. You can nest Loop commands up to 16 levels deep. The code sample (portion of a program) below demonstrates a loop of 5 iterations. MA0 ; Sets unit to Incremental mode A50 ; Sets acceleration to 50 V5 ; Sets velocity to 5 L5 ; Loops 5 times D2000 ; Sets distance to 2,000 GO1 ; Executes the move (Go) T2 ; Delays 2 seconds after the move LN ; Ends loop Unconditional Branching When an unconditional branch is processed, the flow of program execution (“control”) passes to the program or label specified in the branch command. Depending on the branch command used, processing may or may not return to the original program (the “calling” program). There are three ways to branch unconditionally: GOSUB: The GOSUB command branches to the program name or label stated in the GOSUB command. After the called program or label is executed, processing returns to the calling program at the next command line after the GOSUB branch command. GOTO: JUMP: The GOTO command branches to the program name or label stated in the GOTO command. After the called program or label is executed, processing does not return to the calling program—instead, the program will end. This holds true unless the subroutine in which the GOTO resides was called with a GOSUB by another program; in this case, the END in the GOTO program will initiate a return to the calling program. For example, if processing flows from a GOSUB in program A to program B, and then a GOTO from program B to program C, when the END command is processed in program C, processing returns to program A at the command line after the GOSUB. The JUMP command branches to the program name or label stated in the JUMP command. All nested IFs, WHILEs, and REPEATs, loops (L), and subroutines are cleared; thus, the program or label that the JUMP initiates will not return control to the calling program; instead, the called program will end. If an invalid program or label name is entered, the branch command will be ignored and processing will continue with the next line in the program. Gem6K Series products do not support recursive calling of subroutines. Using labels: Labels, defined with the $ command, provide a method of branching to specific locations within the same program. Labels can only be defined within a program and executed with a GOTO, GOSUB, or JUMP command from within the same program (see Example B below). Chapter 1. Programming Fundamentals 23
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 and 28: Restricted Commands During Motion W
Page 29 and 30: Using Numeric (VAR and VARI) Variab
Page 31: Tangent Example Response RADIAN0 VA
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
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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
Page 115 and 116:
Output Functions The Gem6K product
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• Relationships: Output Type OUTL
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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
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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
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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
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Acceleration Setting Profiling Cond
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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
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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
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The table below shows these relatio
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On-the-Fly Motion (pre-emptive GOs)
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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
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ER.14 .......Assignment & compariso
Page 177 and 178:
Following 6C HAPTER SIX Following I
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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
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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
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Enter/Exit Following Mode While Mov
Page 207 and 208:
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 ..........................
Page 215 and 216:
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
Page 227 and 228:
Troubleshooting 8 CHAPTER EIGHT Tro
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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
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Programming Error Messages (continu
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Step 2 Create a program prog3: DEF
Page 245 and 246:
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
Page 251 and 252:
zeroing the absolute position 79 ho
Page 253 and 254:
R skills required ii storing progra
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