Gemini GV6K and Gemini GT6K Programmer's Guide

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Negative Homing, Backup to Home Enabled Figures G through J show the homing operation for different values of HOMDF and HOMEDG, when HOMBAC is enabled. “CW” refers to the positive direction and “CCW” refers to the negative direction. Figure G: Home Profile Attributes (commands): • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is negative (HOMDF1) • Stop on the negative-travel side of the home switch active region (HOMEDG1) Figure H: Home Profile Attributes (commands): • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is negative (HOMDF1) • Stop on the positive-travel side of the home switch active region (HOMEDG0) Figure I: Home Profile Attributes (commands): • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is positive (HOMDF0) • Stop on the negative-travel side of the home switch active region (HOMEDG1) Figure J: Home Profile Attributes (commands): • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is positive (HOMDF0) • Stop on the positive-travel side of the home switch active region (HOMEDG0) 82 Gem6K Series Programmer’s Guide
Homing Using The Z-Channel Figures K through O show the homing operation when homing to an encoder index pulse, or Z channel, is enabled (HOMZ1). The Z-channel will only be recognized after the home input is activated. It is desirable to position the Z channel within the home active region; this reduces the time required to search for the Z channel. “CW” refers to the positive direction and “CCW” refers to the negative direction. Figure K: Home Profile Attributes (commands): • Z-Channel homing enabled (HOMZ1) • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is negative (HOMDF1) • Stop on the negative-travel side of the z-channel active region (HOMEDG1) Figure L: Home Profile Attributes (commands): • Z-Channel homing enabled (HOMZ1) • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is positive (HOMDF0) • Stop on the positive-travel side of the z-channel active region (HOMEDG0) Figure M: Home Profile Attributes (commands): • Z-Channel homing enabled (HOMZ1) • Start home move in negative direction (HOM1) • Backup To Home enabled (HOMBAC1) • Final approach direction is positive (HOMDF0) • Stop on the positive-travel side of the z-channel active region (HOMEDG0) Figure N: Home Profile Attributes (commands): • Z-Channel homing enabled (HOMZ1) • Start home move in positive direction (HOM0) • Backup To Home disabled (HOMBAC0) • Final approach direction is positive (HOMDF0) • Stop on the positive-travel side of the z-channel active region (HOMEDG0) Figure O: Home Profile Attributes (commands): • Z-Channel homing enabled (HOMZ1) • Start home move in positive direction (HOM0) • Backup To Home enabled (HOMBAC1) • Final approach direction is positive (HOMDF0) • Stop on the positive-travel side of the z-channel active region (HOMEDG0) Chapter 3. Basic Operation Setup 83
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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
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RP240 Data Read Immediate Mode The
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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 and 88: End-of-Travel Limits Related Comman
Page 89 and 90: Homing (Using the Home Inputs) Refe
Page 91: Figure C: Home Profil
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
Page 139 and 140: LIMITS Menu: • The POS, NEG and H
Page 141 and 142: 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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