Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
Gemini GV6K and Gemini GT6K Programmer's Guide
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Before You Begin<br />
WARNING<br />
The Gem6K Product is used to control your system's electrical <strong>and</strong> mechanical components.<br />
Therefore, you should test your system for safety under all potential conditions. Failure to do so<br />
can result in damage to equipment <strong>and</strong>/or serious injury to personnel.<br />
Setup Parameters Discussed in this Chapter<br />
Below is a list of the setup parameters discussed in this chapter. You can check the status of each parameter setting by<br />
entering the respective setup comm<strong>and</strong> without any comm<strong>and</strong> fields (e.g., typing LIMFNC displays the current<br />
function <strong>and</strong> state of each limit input). Some setup parameters are also reported with the TSTAT <strong>and</strong> TASF status<br />
comm<strong>and</strong>s (these <strong>and</strong> other status comm<strong>and</strong>s are described on page 222).<br />
Setup Parameter Comm<strong>and</strong> See Pg. Setup Parameter Comm<strong>and</strong> See Pg.<br />
Memory (status with TDIR & TMEM) ...........MEMORY.............11 & 65<br />
Drive Setup............................................................................66<br />
Drive resolution (stepper only) ..............DRES<br />
Drive disable on kill................................KDRIVE<br />
Drive stall detection ...............................DSTALL<br />
Scaling...................................................................................67<br />
Enable scaling factor .............................SCALE<br />
Acceleration scaling factor.....................SCLA<br />
Distance scaling factor ..........................SCLD<br />
Velocity scaling factor............................SCLV<br />
Positioning Mode...................................................................71<br />
Continuous or preset .............................MC<br />
Preset: absolute or incremental.............MA<br />
Encoder Based Stepper Operation (stepper only) ................84<br />
Encoder resolution.................................ERES<br />
Encoder capture/counting enable..........ENCCNT<br />
Use encoder as counter ........................ENCSND ((keep))<br />
Stall detection........................................ESTALL<br />
Kill when stall is detected ......................ESK<br />
Stall deadb<strong>and</strong>.......................................ESDB<br />
Tuning Procedures (servos only) ..........................................85<br />
Current loop b<strong>and</strong>width .........................DIBW<br />
Torque/force limit...................................DMTLIM<br />
Velocity limit...........................................DMVLIM<br />
Notch filter A depth................................DNOTAD<br />
Notch filter A frequency .........................DNOTAF<br />
Notch filter A quality factor.....................DNOTAQ<br />
Notch filter B depth................................DNOTBF<br />
Notch filter B quality factor.....................DNOTBQ<br />
Notch filter B frequency ........................DNOTBF<br />
Notch lead filter break frequency ..........DNOTLD<br />
Notch lag filter break frequency ............DNOTLG<br />
Position loop b<strong>and</strong>width ........................DPBW<br />
Velocity loop b<strong>and</strong>width ........................DVBW<br />
Load damping .......................................LDAMP<br />
Load-to-rotor inertia ratio<br />
or load-to-force mass ratio ....................LJRAT<br />
Acceleration feed forward gain .............DNOTBF<br />
Servo control signal offset .....................SGAF<br />
Integrator enable ..................................SGINTE<br />
Current damping ratio ...........................SGIRAT<br />
Target Zone end-of-move settling criteria (servo axes)........ 84<br />
Target zone mode enable..................................................... STRGTE<br />
Target distance zone ...................................................... STRGTD<br />
Target velocity zone........................................................ STRGTV<br />
Target settling timeout period ......................................... STRGTT<br />
Programmable Input Functions ............................................ 90<br />
Define input functions ........................... INFNC & LIMFNC<br />
Input active level................................... INLVL & LIMLVL<br />
Input debounce ..................................... INDEB<br />
Trigger interrupt - special functions ...... TRGFN<br />
Trigger interrupt - lockout time.............. TRGLOT<br />
Virtual Inputs......................................... IN<br />
Programmable Output Functions.......................................... 90<br />
Define output functions......................... OUTFNC<br />
Output active level ................................ OUTLVL<br />
End-of-travel limits................................................................ 74<br />
Limit function assignments ................... LIMFNC & INFNC<br />
Hardware – enabled ............................. LH<br />
Hardware – deceleration....................... LHAD<br />
Hardware – s-curve decel..................... LHADA<br />
Hardware – active level of input............ LIMLVL<br />
Software – enabled............................... LS<br />
Software – deceleration........................ LSAD<br />
Software – s-curve decel ...................... LSADA<br />
Software – negative direction limit ....... LSNEG<br />
Software – positive direction limit ........ LSPOS<br />
Homing ................................................................................. 79<br />
Limit function assignments ................... LIMFNC & INFNC<br />
Acceleration.......................................... HOMA<br />
S-curve acceleration............................. HOMAA<br />
Deceleration.......................................... HOMAD<br />
S-curve deceleration............................. HOMADA<br />
Backup to home.................................... HOMBAC<br />
Final approach direction ....................... HOMDF<br />
Stopping edge of switch........................ HOMEDG<br />
Home switch active level ...................... LIMLVL<br />
Velocity ................................................ HOMV<br />
Velocity of final approach...................... HOMVF<br />
Home to Z channel input....................... HOMZ<br />
Variable Arrays (teaching variable data) .............................. 110<br />
Initialize numeric variable for data ........ VAR or VARI<br />
Define data program <strong>and</strong> program size DATSIZ<br />
Set data pointer & establish increment. DATPTR<br />
Reset data pointer to specific location.. DATRST<br />
64 Gem6K Series Programmer’s <strong>Guide</strong>
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