Gemini GV6K and Gemini GT6K Programmer's Guide

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Linear Motion All Gemini drives operate internally in rotary units. If you use a linear motor, you must convert some of the motion parameters to their rotary equivalents: A .................... Acceleration AA .................. Acceleration (S-Curve) AD .................. Deceleration ADA ................ Deceleration (S-Curve) D .................... Distance/Position HOMA .............. Home Acceleration HOMV .............. Home Velocity HOMVF ............ Home Final Velocity LHAD .............. Hardware EOT Limit Decel LHADA ............ Hardware EOT Limit Decel (S-Curve) LSAD .............. Software EOT Limit Decel LSADA ............ Software EOT Limit Decel (S-Curve) PSET .............. Absolute Position Reference REG ................ Registration Distance REGLOD .......... Registration Lockout Distance STRGTD .......... Target Zone Distance STRGTV .......... Target Zone Velocity V .................... Velocity NOTE: Motor setup is handled differently. If you use the Motion Planner setup wizard, you may enter the motor data in linear units and the software converts them to rotary units before they are downloaded to the drive. To make the conversion from linear to rotary and vice versa, the motor electrical pitch, or DMEPIT, must be known. The electrical pitch relates the linear distance required for the equivalent of one rotary motor revolution. Mechanically, the definition of the electrical pitch is the linear distance between two magnets comprising a full magnetic cycle. The illustration (below) shows an example of an electrical pitch of 42mm (DMEPIT42). NOTE: Parker linear motors have an electrical pitch of 42mm. Linear motor track ;N S;N ;;N S S ;N S ; ;;; 42 mm Definition of DMEPIT (Electrical Pitch) The feedback resolution (ERES) value must be set to the number of counts for the electrical pitch (1 rev). # counts 1 m DMEPIT( mm) # counts ERES = × × = 1 m 1000 mm 1 ( rev) 1 ( rev) 14243 14243 144 2443 from encoder conversion from motor Most linear encoders are metric, and most of those are 1 micron (1 µm): 1 count 1,000,000 counts 1 micron encoder = = 1 µ m m Use the following formulas to convert from linear to rotary units. An sample conversion for position, acceleration, and velocity is provided on page 76. 74 Gem6K Series Programmer’s Guide
Linear Position • D (distance) • PSET (absolute position reference) • REG (registration distance) • REGLOD (registration lockout distance) • STRGTD (target zone distance) Metric: English: Position Position # counts ( counts) = ( m) 14243 rotary × from encoder Position # counts .0254 ( m) ( counts) = × ( m) 1 ( in) 14243 from encoder linear rotary × ( m) Position linear ( in) Position # counts .0254 ( m) 12 ( in) ( counts) = × × ( m) 1 ( in) 1 ( ft) 14243 rotary × from encoder Position linear ( ft) Linear Velocity • V (velocity) • HOMV (home velocity) • HOMVF (home final velocity) • STRGTV (target velocity) Metric: English: Velocity Velocity 1 1000 ( mm) ( rps) = × Velocitylinear ( m / s) DMEPIT( mm) 1 ( m) rotary × 1 25.4 ( mm) ( rps) = × Velocitylinear ( in / s) DMEPIT( mm) 1 ( in) rotary × Velocity 1 25.4 ( mm) 12 ( in) ( rps) = × × Velocitylinear ( ft / s) DMEPIT( mm) 1 ( in) 1 ( ft) rotary × Linear Acceleration • A (acceleration) • AA (s-curve accel) • AD (deceleration) • AD (s-curve decel) • HOMA (home accel) • LHAD (hard limit decel) • LHADA (hard limit s-curve decel) • LSAD (soft limit decel) • LSADA (soft limit s-curve decel) Metric: Accel English: Accel Accel 1 1000 ( mm) ( rpss) = × DMEPIT( mm) 1 ( m) rotary × 1 25.4 ( mm) ( rpss) = × DMEPIT( mm) 1 ( in) rotary × Accel Accel 1 25.4 ( mm) 12 ( in) ( rpss) = × × DMEPIT( mm) 1 ( in) 1 ( ft) linear linear rotary × ( m / s ( in / s Accel 2 2 ) ) linear ( ft / s 2 ) Chapter 3. Basic Operation Setup 75
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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
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Storing Programs After a program or
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Executing Programs (options) Follow
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In the programming example below, b
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Restricted Commands During Motion W
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Using Numeric (VAR and VARI) Variab
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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 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: Continuous Positioning Mode The Con
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
Page 109 and 110: Pause/Continue • LIMFNCi-E • IN
Page 111 and 112: Code Examples INFNC1-H ; Assign tri
Page 113 and 114: One-to-One Program Select • LIMFN
Page 115 and 116: Output Functions The Gem6K product
Page 117 and 118: • Relationships: Output Type OUTL
Page 119 and 120: 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
Page 127 and 128: 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
Page 133 and 134: 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
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product of master travel and averag
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like: MC0 ; Preset incremental posi
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POUTA Output During Compiled Motion
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Profile Program ; Setup code F
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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
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Registration A “registration inpu
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Registration — Sample Application
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Registration — Sample Application
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ER.14 .......Assignment & compariso
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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
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epeatedly issues the command with s
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Enable the Following Mode; (FOLEN1)
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Preset Positioning Mode Moves For p
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Phase Shift Examples FSHFC Example
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A FGADV move may not be performed:
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Example Code cycle length is less t
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Finally, master cycle counting rest
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Master Position Prediction Master P
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Maximum Velocity and Acceleration (
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Master Velocity Relative to Master
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When the Follower is in Preset Posi
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Enter/Exit Following Mode While Mov
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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 ..........................
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GEM6K Resources I/O Serial Ports Et
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GEM6K Resources Supervisor Program
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How a “Kill” Works While Multi-
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Sharing Common Resources Between Mu
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Input and Output Functions and Mult
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command. This could be used for dia
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Troubleshooting 8 CHAPTER EIGHT Tro
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Problem Cause Solution Direction is
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Program Debug Tools After creating
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TASF Reports axis-specific conditio
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TSTAT Reports general system setup
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TERF Reports error conditions. ** *
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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
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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
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zeroing the absolute position 79 ho
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R skills required ii storing progra
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Gemini GV6K and Gemini GT6K Programmer's Guide

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