Gemini GV6K and Gemini GT6K Programmer's Guide

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Conversion Example Using a Parker 406-LXR-M-D15-E2 linear motor, the electrical pitch is 42mm (DMEPIT42) and the encoder is 1 micron. Here, we will convert an acceleration of 10 inches/sec 2 , a velocity of 5 inches/sec, and a distance of 20 inches: 1. Calculate ERES in counts/rev (result is ERES42000): 1000 000 counts 1 ( m) 42 ( mm) 42 000 counts ERES = × × = 1 ( m) 1000 ( mm) ( rev) 1 ( rev) 144244 3 14243 14243 from encoder conversion from motor 2. Convert an acceleration of 10 inches/sec 2 to its rotary equivalent in revs/sec 2 : 1 25.4 ( mm) Accel rotary ( rpss) = × × 10 ( in / s 2 ) = 6. 0476 rpss 42( mm) 1 ( in) 3. Convert a velocity of 5 inches/sec to its rotary equivalent in revs/sec: 1 25.4 ( mm) Velocity rotary ( rps) = × × 5 ( in / s) = 3. 0238 rps 42 ( mm) 1 ( in) 4. Convert a distance of 20 inches to its rotary equivalent in counts: 1000000 counts .0254 ( m) Position rotary ( counts) = × × 20.0 ( in) = 508000 1 ( m) 1 ( in) 144244 3 from encoder The program values resulting from these conversions are: ERES42000 ; Set encoder resolution to 42000 counts/rev A6.0476 ; Set acceleration to 6.0476 revs/sec/sec ; (10 inches/sec/sec) V3.0238 ; Set velocity to 3.0238 revs/sec (5 inches/sec) D508000 ; Set distance to 508,000 counts (20 inches) 76 Gem6K Series Programmer’s Guide
End-of-Travel Limits Related Commands: LH .............Hard limit enable LHAD .........Hard limit decel LHADA .......Hard limit decel (s) LIMLVL.....Limit switch polarity LS .............Soft limit enable LSAD .........Soft limit decel LSADA .......Soft limit decel (s) LSNEG .......Soft limit (negative) LSPOS .......Soft limit (positive) TLIM .........Hard limit status TASF .........Bits 15-18 indicate if ..................hard or soft limit ..................was encountered TERF .........Bit 2: hard limit hit ..................Bit 3: soft limit hit ..................(must enable ERROR ..................checking bits 2 & 3) ERROR .......Bit 2 or 3 is enabled, ..................the Gem6K will branch to ..................the ERRORP program ..................if a hard or soft limit ..................is encountered The Gem6K controller can respond to both hardware and software end-of-travel limits. The purpose of hardware and software end-of-travel limits is to prevent the motor’s load from traveling past defined limits. Software and hardware limits are typically positioned in such a way that when the software limit is reached, the motor/load will start to decelerate toward the hardware limit, thus allowing for a much smoother stop at the hardware limit. Software limits can be used regardless of incremental or absolute positioning. When a hardware or software end-of-travel limit is reached, the Gem6K controller stops that axis using the respective hardware deceleration rate (set with LHAD & LHADA) or software limit deceleration rate (set with LSAD & LSADA). How to set up hardware end-of-travel limits (for each axis): 1. Connect the end-of-travel limit inputs according to the instructions in your Gem6K product’s Installation Guide. To help assure safety, connect normally-closed switches and leave the active level at default “active low” setting (set with the LIMLVL command). 2. (Optional) Define the inputs to be used as end-of-travel inputs for the respective axes. NOTE: When the Gem6K product is shipped from the factory, the inputs on the “LIMITS/HOME” connectors are factory-configured with the LIMFNC command to function as end-of-travel and home limits for their respective axes. If you intend to use digital inputs on an external I/O brick as limit inputs: a. Assign the limit function to the external input with the INFNC command. For example, 1INFNC9-1R assigns the “axis 1 positive end-of-travel limit” function to the 1 st input on SIM2 (I/O point 9) of I/O brick 1. b. Reassign the respective “LIMITS/HOME” input to a non-limit function with the LIMFNC command. For example, LIMFNC1-A assigns the “general-purpose input” function to limit input 1 (normally assigned the “axis 1 positive end-oftravel limit” function). 3. Set the hard limit deceleration rate (LHAD & LHADA) to be used when the limit switch is activated. The LHADA command allows you to define an s-curve deceleration. Steppers: If your system is moving heavy loads or operating at high velocities, you may need to decrease the LHAD command value (deceleration rate) to prevent the motor from stalling. NOTES ON HARDWARE LIMITS • Gem6K controllers are shipped from the factory with the hardware end-of-travel limits enabled, but not connected. Therefore, motion will not be allowed until you do one of the following: - Install limit switches or jumper the end-of-travel limit terminals to the GND terminal (refer to your product's Installation Guide for wiring instructions). - Disable the limits with the LH command (recommended only if the load is not coupled). - Reverse the active level of the limits by executing the LIMLVL0 command for the respective axis. Chapter 3. Basic Operation Setup 77
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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
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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 and 84: Continuous Positioning Mode The Con
Page 85: Linear Position • D (distance)
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
Page 135 and 136: 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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