Gemini GV6K and Gemini GT6K Programmer's Guide

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How to set up software end-of-travel limits (for each axis): 1. Use the LS command to enable the software end-of-travel limits/ 2. Define the positive-direction limit with the LSPOS command, and define the negativedirection limit with the LSNEG command. If you have scaling enabled (SCALE1), these limit values are scaled by the SCLD command. Both software limits may be defined with positive values. NOTES ON SOFTWARE LIMITS • The software limits (LSPOS & LSNEG) are referenced from a position of absolute zero. or negative values. Care must be taken when performing incremental moves because the software limits are always defined in absolute terms. They must be large enough to accommodate the moves, or a new zero reference position must be defined (using the PSET command) before each move. • To ensure proper motion when using soft end-of-travel limits, be sure to set the LSPOS value to an absolute value greater than the LSNEG value. Programming Example In this sample of code (not a complete program), the hardware and software limits are enabled. The distance scaling command (SCLD) is used to define software limit locations in revolutions from the absolute zero position (assumes a 4000 step/rev resolution). Deceleration rates are specified for both software and hardware limits. If a limit is encountered, the motor will decelerate to a stop. ; ********************************************************* ; These scaling setup commands are downloaded before the ; limit setup commands are executed: SCALE1 ; Enable scaling SCLD4000 ; Program soft limit distance in revs SCLA4000 ; Program soft limit accel/decel in revs/sec/sec ERES4000 ; Set encoder resolution to 4000 steps/rev ; ********************************************************* LH3 ; Enable limits 1 and 2, disable limits 3 and 4 LHAD10 ; Set hard limit deceleration LSAD5 ; Set soft limit deceleration LSNEG0 ; Set negative direction soft limit ; (0 revs) LSPOS10 ; Establish positive soft limit ; (10 revs) LS3 ; Enable soft limits 78 Gem6K Series Programmer’s Guide
Homing (Using the Home Inputs) Refer to the product's Installation Guide for instructions to wire a hardware home limit switch. The homing operation is a sequence of moves that position an axis using the Home Limit input and/or the Z Channel input of an incremental encoder. The goal of the homing operation is to return the load to a repeatable initial starting location. Zero Reference After Homing: As soon as the homing operation is successfully completed, the absolute position register is reset to zero, thus establishing a zero reference position. The homing operation has several potential homing functions you can customize to suit the needs of your application (illustrations of the effects of these commands are presented below): Command Homing Function (see respective command descriptions for further details) Default Homing Status: Status of homing moves is stored in bit #5 of the axis status register (indicates whether or not the home operation was successful). To display the status, use the TASF command or the TAS command. To use the status in a conditional expression (e.g., for an IF statement), use the AS assignment/comparison operator. HOM ...............Initiate the homing move. To start the homing move in the positive direction, use HOMØ; to home in the negative direction, use HOM1. HOMA.............Acceleration while homing. HOMAA...........S-curve acceleration while homing. HOMAD...........Deceleration while homing. HOMADA.........S-curve deceleration while homing. HOMBAC.........Back up to home. The load will decelerate to a stop after encountering the active edge of the home region, and then will move in the opposite direction at the HOMVF velocity until the active edge of the home region is encountered. Allows the use of HOMEDG and HOMDF. HOMDF...........Final approach direction —during backup to home (HOMBAC) or during homing to the Z channel input of an incremental encoder (HOMZ). HOMEDG.........Specify the side of the home switch on which to stop (either the positive-travel side or the negative-travel side). LIMLVL.........Define the home limit input active level (i.e., the state, high or low, which is to be considered an activation of the input). To use a normallyopen switch, select active low (LIMLVL0); to use a normally-closed switch, select active high (LIMLVL1). HOMV.............Velocity while seeking the home position (see also HOMVF). HOMVF...........Velocity while in final approach to home position—during backup to home (HOMBAC) or during homing to the Z channel input of an incremental encoder (HOMZ). HOMZ.............Home to the Z channel input from an incremental encoder. NOTE: The home limit input must be active prior to homing to the Z channel. HOMx (do not home) HOMA1Ø (10 units/sec 2 ) HOMAA10 (10 units/sec 2 ) HOMAD10 (10 units/sec 2 ) HOMADA10 (10 units/sec 2 ) HOMBAC0 (function disabled) HOMDF0 (positive direction) HOMEGD0 (positive-travel side of switch) LIMLVL0 (active-low, use a normally-open switch) HOMV1 (1 unit/sec) HOMVF.1 (0.1 unit/sec) HOMZ0 (function disabled) NOTES ABOUT HOMING • Avoid using pause and resume functions during the homing operation. A pause command (PS or !PS) or pause/resume input (input configured with the INFNCi-E or LIMFNCi-E command) will pause the homing motion. However, when the subsequent resume command (C or !C) or pause/resume input occurs, motion will resume at the beginning of the homing motion sequence. • Relevance of positive and negative direction: • If an end-of-travel limit is encountered during the homing operation, the motion will be reversed and the home switch will be sought in the opposite direction. If a second limit is encountered, the homing operation will be terminated, stopping motion at the second limit. Chapter 3. Basic Operation Setup 79
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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
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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 and 86: Linear Position • D (distance)
Page 87: End-of-Travel Limits Related Comman
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
Page 137 and 138: 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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