Gemini GV6K and Gemini GT6K Programmer's Guide

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Basic Operation Setup 3C HAPTER THREE Basic Operation Setup IN THIS CHAPTER This chapter will enable you to understand and implement these basic operation features: • Before You Begin (setup programs, Motion Planner, resetting, etc.).................64 • Memory Allocation (CAUTION: Do not place in “setup” program)........................ 65 • Drive Setup (fault level, resolution, disable drive on kill)......................................... 66 • Scaling ................................................................................................................ 67 • Positioning Modes .............................................................................................. 71 • End-of-Travel Limits.......................................................................................... 74 • Homing............................................................................................................... 79 • Encoder-Based Stepper Operation (stepper axes only).......................................84 • Tuning Procedures (servos only) ........................................................................ 85 • Target Zone Mode (servo axes only)..................................................................84 • Programmable Inputs and Outputs (incl. triggers and auxiliary outputs) ...........90 • Variable Arrays (teaching variable data)........................................................... 110
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p/n 88-019934-01 A Automation Gemin
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CONTENTS OVERVIEW..................
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Multi-Tasking Performance Issues ..
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Programming Examples Reference Docu
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Programming Fundamentals 1C HAPTER
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Native Code Programming As an alter
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Description of Syntax Letters and S
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Command Value Substitutions Many co
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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 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 74 and 75: Before You Begin WARNING The Gem6K
Page 76 and 77: Drive Setup Drive Stall Detection (
Page 78 and 79: Acceleration & Deceleration Scaling
Page 80 and 81: Scaling Example — Steppers User h
Page 82 and 83: Preset Positioning Mode Incremental
Page 84 and 85: Linear Motion All Gemini drives ope
Page 86 and 87: Conversion Example Using a Parker 4
Page 88 and 89: How to set up software end-of-trave
Page 90 and 91: Figures A and B show the homing ope
Page 92 and 93: Negative Homing, Backup to Home Ena
Page 94 and 95: Encoder-Based Stepper Operation (st
Page 96 and 97: Position Mode Tuning Procedure Prim
Page 98 and 99: Lag Filter Adjustment Procedure The
Page 100 and 101: Programmable Inputs and Outputs (on
Page 102 and 103: Digital Inputs (“DRIVE I/O” con
Page 104 and 105: Input Functions Programmable input
Page 106 and 107: Input Active Levels Many people ref
Page 108 and 109: Kill • LIMFNCi-C • INFNCi-C Whe
Page 110 and 111: INFNC17-H command. When a Trigger I
Page 112 and 113: Example Step 1 Define program for j
Page 114 and 115: Program Security • LIMFNCi-Q •
Page 116 and 117: Output Status Below is a list of th
Page 118 and 119: Limit Encountered (OUTFNCi-D) When
Page 120 and 121: Variable Arrays (teaching variable
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Summary of Related Gem6K Series Com
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Step 4 Define the DOPATH Subroutine
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Safety Features WARNING The Gem6K P
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Programmable I/O Devices Programmab
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PLC Scan Mode Scan Time To check ho
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conditionals is from left to right.
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port for Gem6K commands. DRPCHK3 ..
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126 Gem6K Series Programmer’s Gui
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Status Reports: System & Axis
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Changing the Password: The default
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Setup Code (the drawing below shows
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Graphical User Interface (GUI) Deve
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S-Curve Profiling Controllers allow
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Calculating Jerk Zero Acceleration
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NOTES • During compilation (PCOMP
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PCOMP ; Compile profile #7, but ins
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(FOLENØ) segments in that the ramp
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Related Commands GOBUF Store a Moti
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VAR4 = DREAD ; Get # of windings 1s
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Program Modification Let’s now mo
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; Program second constant ratio FOL
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Finally, we need to design a segmen
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The table below summarizes the rest
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Program (portion only) VAR1=0 ; Ini
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Preventing Unwanted Registration Mo
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Registration — Sample Application
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GOWHEN Syntax
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Trigger Functions (TRGFN) MC0 ; Set
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Ratio Following - Introduction As p
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Implementing Ratio Following This s
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Following a Virtual Master The Gem6
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Define the Master and Follower Scal
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Continuous Positioning Mode Moves F
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Performing Phase Shifts Following S
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FSHFD Example In this example, the
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Master Cycle Concept Ratio Followin
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Transfer and Assignment/ Comparison
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Technical Considerations for Follow
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The bandwidth of the low-pass filte
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Resolution of the Master; Resolutio
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GO1 command will not actually be co
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continuous cyclical follower profil
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travel had not finished the previou
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Following Commands Detailed informa
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Introduction to Multi-Tasking What
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GEM6K Resources Supervisor Program
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Interaction Between Tasks A new tas
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Tasks Refer to page 210 for more de
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Using Gem6K Resources While Multi-T
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command which has motion data (e.g.
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Multi-Tasking Performance Issues Wh
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Troubleshooting Basics When your sy
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Diagnostic LEDs: All other LED stat
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Status Commands Status commands are
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TASXF Reports extended axis-specifi
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TSSF Reports current system conditi
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List of All Status Commands SPECIAL
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Programming Error Messages (continu
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Identifying Bad Commands To facilit
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Now we’ll enable the TRACEP mode
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Outputs Step 1 Step 2 Step 3 Step 4
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Technical Support For solutions to
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programmable inputs 94 programmable
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setup program tool 13 move completi
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programmed conditional GO (GOWHEN)
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