Gemini GV6K and Gemini GT6K Programmer's Guide

Position loop ratio .................................SGPRAT
Velocity/position bandwidth ratio ..........SGPSIG
Velocity feed forward gain ....................SGVP
Velocity damping ratio ..........................SGVRAT
Using a Setup Program
The features described in this chapter are configured with certain Gem6K Series commands,
commonly referred to as “setup commands.” We recommend placing these commands (except
MEMORY) into a special “setup program” that is executed to prepare the Gem6K Series
product for subsequent controller operations. Further details about setup programming are
provided in the Creating and Executing a Setup Program section, page 13.
USE THE START WIZARD IN MOTION PLANNER
The easiest way to get started with your setup program is to use the Start Wizard in Motion
Planner’s Wizard Editor. After the Start wizard is finished, you can include additional setup
code according to your programming needs. The Start wizard also defines which program is
your start-up (STARTP) program. If you do not wish to program you entire application with
the Wizards, you can use the Start wizard to get the basic setup accomplished, and then
copy the generated code into the Program Editor. (Wizard version 4.2 or later required)
Resetting the Controller
There are two primary ways to reset the Gem6K controller (listed below).
• Cycle power.
• Execute the RESET command.
When the controller is reset, most of the previously entered command parameters are returned
to their original factory default values. All programs and variables, as well as certain
command values, are retained in non-volatile memory (see page 35). If a start-up program is
assigned with the STARTP command, resetting the controller will automatically execute that
program. If you are using an RP240, the RESET function is available if you use the default
menu system (see page 130).
Memory Allocation
For details about memory allocation, refer to Storing Programs on page 11.
CAUTION
Issuing a new MEMORY command (e.g., MEMORY200000,100000) will erase all existing
programs and compiled profiles residing in the Gem6K product’s memory. To determine the
status of memory allocation, use the TMEM command.
Do not place the MEMORY command in the program assigned as the startup (STARTP)
program. Doing so would erase all programs and segments upon cycling power or issuing
the RESET command.
Chapter 3. Basic Operation Setup 65