Gemini GV6K and Gemini GT6K Programmer's Guide

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Lag Filter Adjustment Procedure The lag filter can act as a low pass filter, and reduce the effects of electrical noise on the commanded torque. (It can also reduce the effects of resonance at low frequencies— below 60 Hz—where the notch filters are not effective.) 1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce DMTLIM and connect an oscilloscope. 2. Verify that the lead filter is turned off (DNOTLDØ). 3. Configure the drive for position tuning mode. Observe the system’s response to the tuning mode’s step input. 4. Choose a value for the lag filter (DNOTLG) that reduces low frequency resonance and provides satisfactory system performance. 5. If you are done adjusting filters, reconfigure DMTLIM to its default value. Otherwise, proceed to the Lead /Lag Filter Adjustment procedure below. Lead/Lag Filter Adjustment Procedure The lead filter can counteract the effects of the lag filter at higher frequencies. Do not use the lead filter by itself—if you use the lead filter, you must also use the lag filter. 1. As described in Steps 2 – 3 in the Notch Filter Adjustment procedure above, reduce DMTLIM and connect an oscilloscope. 2. Set the lag filter (DNOTLG) as described above. 3. Configure the drive for position tuning mode. Observe the system’s response to the tuning mode’s step input. 4. Choose a value for the lead filter (DNOTLD) that improves system performance. This value will typically be higher in frequency than the lag filter setting. 5. You must choose a value for the lead filter that is higher in frequency than the lag filter value. However, do not set the lead filter higher than four times the lag filter frequency, or a drive configuration warning will result, and the drive will use the previous filter settings. 6. If you are done adjusting filters, reconfigure DMTLIM to its default value. 88 Gem6K Series Programmer’s Guide
Target Zone Mode (move completion criteria for servos only) Under default operation (Target Zone Mode not enabled), the Gem6K product's move completion criteria is simply derived from the move trajectory. The Gem6K product considers the current preset move to be complete when the commanded trajectory has reached the desired target position; after that, subsequent commands/moves can be executed. Consequently, the next move or external operation can begin before the actual position has settled to the commanded position (see diagram). To prevent premature command execution before the actual position settles into the commanded position, use the Target Zone Mode. In this mode, enabled with the STRGTE command, the move cannot be considered complete until the actual position and actual velocity are within the target zone (that is, within the distance zone defined by STRGTD and less than or equal to the velocity defined by STRGTV). If the load does not settle into the target zone before the timeout period set with the STRGTT command, the Gem6K product detects a timeout error (see illustration below). If the timeout error occurs, you can prevent subsequent command/move execution only if you enable the ERROR command to continually check for this error condition, and when it occurs to branch to a programmed response you can define in the ERRORP program. (Refer to the Error Handling section, page 30, for error program examples.) As an example, setting the distance zone to ±5 counts (STRGTD5), the velocity zone to ≤0.5 revs/sec (STRGTV0.5), and the timeout period to 1/2 second (STRGTT500), a move with a distance of 8,000 counts (D8000) must end up between position 7,995 and 8,005 and settle down to ≤0.5 rps within 500 ms (1/2 second) after the commanded profile is complete. Damping is critical To ensure that a move settles within the distance zone, it must be damped to the point that it will not move out of the zone in an oscillatory manner. This helps ensure the actual velocity falls within the target velocity zone set with the STRGTV command (see illustration below). Checking the Settling Time Checking the Actual Settling Time: Using the TSTLT command, you can display the actual time it took the last move to settle into the target zone (that is, within the distance zone defined by STRGTD and less than or equal to the velocity defined by STRGTV). The reported value represents milliseconds. The TSTLT command is usable whether or not the Target Zone Settling Mode is enabled with the STRGTE command. Chapter 3. Basic Operation Setup 89
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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)
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Enabling Error Checking To detect a
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12 Servos only: Exceeded Max. Allow
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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 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: Filter Adjustments If the previous
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
Page 143 and 144: Host Computer Interface Another cho
Page 145 and 146: Custom Profiling 5C HAPTER FIVE Cus
Page 147 and 148: 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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