Gemini GV6K and Gemini GT6K Programmer's Guide

Encoder Count/Capture Referencing.................... 85
Tuning Procedures (servos only) .............................. 85
Entering Load Settings ......................................... 85
Position Mode Tuning .............................................. 85
Position Mode Tuning Procedure ......................... 86
Filter Adjustments .................................................... 87
Target Zone Mode (move completion criteria for
servos only)............................................................... 89
Programmable Inputs and Outputs (onboard and
external inputs & outputs) ........................................ 90
Programmable I/O Bit Patterns............................. 91
Input Functions..................................................... 94
Output Functions ................................................ 105
Variable Arrays (teaching variable data)................ 110
Basics of Teach-Data Applications..................... 110
Summary of Related Gem6K Series Commands 112
Teach-Data Application Example....................... 112
PRODUCT CONTROL OPTIONS ........................ 115
Safety Features ....................................................... 116
Options Overview................................................... 116
Stand-Alone Interface Options ........................... 116
Programmable Logic Controller ......................... 117
Host Computer Interface .................................... 117
Custom Graphical User Interfaces (GUIs).......... 117
Programmable I/O Devices..................................... 118
Programmable I/O Functions.............................. 118
Thumbwheels ..................................................... 119
PLCs ................................................................... 119
PLC Scan Mode.................................................. 120
RP240 Remote Operator Panel............................... 123
Configuration...................................................... 123
Operator Interface Features ................................ 124
Using the Default Menus.................................... 125
Joystick Control, Analog Inputs ............................. 130
Joystick Control.................................................. 130
Analog Input Interface......... Error! Bookmark not
defined.
Host Computer Interface ........................................ 133
Graphical User Interface (GUI) Development Tools
................................................................................ 134
CUSTOM PROFILING ........................................... 135
S-Curve Profiling.................................................... 136
S-Curve Programming Requirements................. 136
Determining the S-Curve Characteristics ........... 136
Programming Example ....................................... 137
Calculating Jerk .....Error! Bookmark not defined.
Compiled Motion Profiling..................................... 139
Compiled Following Profiles.............................. 142
Dwells and Direction Changes ........................... 144
Compiled Motion Versus On-The-Fly Motion... 145
Related Commands............................................. 146
Compiled Motion — Sample Application 1 ....... 147
Compiled Motion — Sample Application 2 ....... 148
Compiled Motion — Sample Application 3 ....... 151
Compiled Motion — Sample Application 4 ....... 152
On-the-Fly Motion (pre-emptive GOs).................... 155
OTF Error Conditions......................................... 156
On-The-Fly Motion — Sample Application....... 157
Registration.............................................................159
How to Set up a Registration Move ....................159
Registration Move Accuracy (see also Registration
Move Status below).............................................159
Preventing Unwanted Registration Moves
(methods).............................................................160
Registration Move Status & Error Handling.......160
Registration — Sample Application 1 ................161
Registration — Sample Application 2 .......... Error!
Bookmark not defined.
Registration — Sample Application 3 ................163
Synchronizing Motion (GOWHEN and TRGFN
operations)...............................................................163
Conditional “GO”s (GOWHEN)............................163
Trigger Functions (TRGFN) ................................166
FOLLOWING ...........................................................167
Ratio Following – Introduction...............................168
What can be a master ........................................168
Following Status (TFSF, TFS & FS Commands)
............................................................................169
Implementing Ratio Following ...............................170
Ratio Following Setup Parameters......................170
Follower vs. Master Move Profiles.....................175
Performing Phase Shifts......................................178
Geared Advance Following.................................180
Summary of Ratio Following Commands...........181
Master Cycle Concept.............................................182
Master Cycle Commands....................................182
Summary of Master Cycle and Wait Commands 185
Technical Considerations for Following.................186
Performance Considerations ...............................186
Master Position Prediction ..................................187
Master Position Filtering.....................................187
Following Error...................................................188
Maximum Velocity and Acceleration (Stepper
Axes Only)..........................................................189
Factors Affecting Following Accuracy...............189
Preset vs. Continuous Following Moves.............191
Master and Follower Distance Calculations........192
Using Other Features with Following .................194
Troubleshooting for Following (see also Chapter 8)
................................................................................196
Error Messages....................................................197
Following Commands.............................................198
MULTI-TASKING ...................................................201
Introduction to Multi-Tasking.................................202
Using Multi-Tasking to Run Programs ...............202
Interaction Between Tasks ..................................206
Tasks ...................................................................208
How a “Kill” Works While Multi-Tasking .........209
Using Gem6K Resources While Multi-Tasking .....210
Associating Axes with Tasks ..............................210
Sharing Common Resources Between Multiple
Tasks ...................................................................211
Locking Resources to a Specific Task ................211
How Multi-tasking and the % Prefix Affect
Commands and Responses..................................211
Input and Output Functions and Multi-tasking ...213