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Parker Automation Gemini GT6K, Command Reference Manual

The Parker Automation Gemini GT6K Command Reference Manual is a comprehensive resource designed to guide users in operating the Gemini GT6K system efficiently. This essential manual provides step-by-step instructions and detailed information, offering a free download from manualshive.com. Maximize your product's potential with the expert guidance of this user manual.

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82

 

Gemini GV6K/GT6K Command Reference 

 

AUTO-SETUP

:

 

This command is automatically set according to the Parker motor selected with the 

configuration utility in Motion Planner (see page 

6

). If you did not use the configuration utility or are not using a 

Parker Motor, this command is set to zero and you will have to manually set this parameter.  (Refer to 

DMTR

 

for a list of auto-configured commands.)  

 

The 

DMTD

 command specifies the damping of the motor itself. This includes both magnetic losses and 

bearing losses.    (The load damping is specified with the 

LDAMP

 command.) 

DMTIC  

Continuous Current

 

Type

 Motor 

Syntax

 <a_><!>DMTIC<r> 

Units

 

r = Amps-RMS 

Range

 

0.00 to 100.00 : ±0.01 

Default

 

0.00  (DMTIC of 0 results in motor configuration warning) 

Response

 DMTIC: *DMTIC6.50 

See Also

 

DMTICD, TASX, TCS, TDICNT 

Product Rev

 

GT6K 6.0 
GV6K 6.0 

    

 

GV6K Only

: This command does not take effect until you cycle power to the drive, or issue a 

RESET

 or 

DRESET

 command. 

GT6K Only

: This command takes effect immediately. 

AUTO-SETUP

:

 

This command is automatically set according to the Parker motor selected with the 

configuration utility in Motion Planner (see page 

6

). If you did not use the configuration utility or are not using a 

Parker Motor, this command is set to zero and you will have to manually set this parameter.  (Refer to 

DMTR

 

for a list of auto-configured commands.)  If the drive is powered up when this command is set to zero (for 
instance, if 

RFS

 is executed), the drive reports a motor configuration warning with 

TASX

 bit 28, and writes 40 

to 

TCS

.

 

The 

DMTIC

 command sets the continuous operating current for a motor. For a servo drive operating a rotary 

motor continuously at this current, the internal winding temperature will reach 125

°

C with a specified 

heatsink (see the 

Gemini Motor Reference Manual

 for heatsink dimensions) in a 40

°

C ambient. For linear 

servo motors, the winding will reach 90

°

C in a 25

°

C ambient. 

The continuous current of a motor that is designed to provide a long service life depends on many factors. 
Among them are motor ambient temperature, the degree of heatsinking provided by the motor mounting 
surface, and airflow over the motor. In a stepper, the continuous current is flowing in the motor 
continuously. In a servo, the continuous current is used in calculations to protect the motor from thermal 
damage, and has no immediate effect on performance.

 

Example

:

 

DMTIC5 

; Set the motor current to 5 amps rms (equates to 7.07 amps peak) 

DMTICD  

Continuous Current Derating

 

Type

 Motor 

Syntax

 <a_><!>DMTICD<i> 

 

(does not take effect until RESET, DRESET or  

cycle power)

 

Units

 

i = percent derating at rated speed 

Range

 

0.00 to 100.00 : ±0.01 

Default

 

0.00    (DMTICD of 0 results in no current derating) 

Response

 DMTICD: 

*DMTICD5 

See Also

 

DMTIC, DMTIP, DMTW 

Product Rev

 

GT6K n/a 

GV6K 6.0 
 
(applicable only to 
servo axes) 

    

 

NOTE

: This command does not take effect until you cycle power to the drive, or issue a 

RESET

 or 

DRESET

 

command. 

 

www.comoso.com

Summary of Contents for Gemini GT6K

Page 1: ...PE TRGFN DEF DEL ERASE END STARTP ERROR VAR VARB VARS SFB HOM JOY JOG TIO TASF TSSF TINOF DATSIZ TFSF TREV TOUT SOFFS TDIR MA MC DRFEN GOBUF PRUN IF WHEN LH ELSE WHILE ONIN OUT HELP GOTO WAIT V TSKAX D Effective October 1 2001 p n 88 019933 01 A Gemini GV6K and Gemini GT6K Command Reference Automation www comoso com ...

Page 2: ... for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoever inclu...

Page 3: ... system use the Info window right or press the F1 key This document is also available in Adobe Acrobat PDF format from our web site http www compumotor com Table of Contents Page 1 Introduction Command Description Format Syntax Letters and Symbols Syntax General Guidelines Syntax Command Value Substitutions Programmable I O Bit Patterns Programming Error Messages S Curve Accel Decel Profiling Unit...

Page 4: ...on you are using For example if the TREV response is TREV92 016740 01 6 0 the product revision is 6 0 4 Type This field contains the command s type 5 Syntax The proper syntax for the command is shown here The specific parameters associated with the command are also shown Definitions of the parameters are described in the Syntax sections below 6 Units This field describes what unit of measurement t...

Page 5: ...t cannot contain a decimal point integer values only The numeric range varies by command Field separator required r Represents a numeric value that may contain a decimal point but is not required to have a decimal point The numeric range varies by command Field separator required t Represents a string of alpha numeric characters from 1 to 6 characters in length The string must start with a alpha c...

Page 6: ...bol at the beginning of the command enter only the value for one command field Set the digital outputs 1 2 active on all digital outputs onboard and external OUT11 The symbol is also useful for checking the status of all inputs or outputs on all I O bricks Check the status of all digital outputs onboard and on external I O bricks OUT Bit Select Operator The bit select operator allows you to affect...

Page 7: ... of the command Programming Example NOTE The substitution item must be enclosed in parentheses VAR1 15 Set variable 1 to 15 A VAR1 Set acceleration to 15 VARB1 b101XX Set binary variable 1 to 101XX bits 4 5 not affected OUT VARB1 Turn on ouputs 1 3 turn off output 2 don t change outputs 4 5 VARS1 Enter Velocity Set string variable 1 to the message Enter Velocity V READ1 Read in the velocity output...

Page 8: ...asic Visual C and Delphi The Motion Planner installation program installs COM6SRVR EXE in the Motion Planner directory Details on the Communication Server functions are provided in the COM6SRVR Communications Server User Guide NOTE The Gem6K commands described in this document can be used only with Motion Planner or the COM6SRVR Communications Server Using Motion Planner with a Gem6K Drive Motion ...

Page 9: ...are Installation Guide NOTE You can download the operating system to only one drive unit at a time and you must use RS 232 communication no daisy chains NOTE You must use the Gem6K s RS 232 connector COM 2 not the RS 232 485 connector COM 1 2 Launch Motion Planner 3 In the Default Communications Settings dialog box select your Gem6K drive and select the serial port to which the drive is connected ...

Page 10: ...Expansion I O For example the status command to check all digital inputs on I O brick 2 is 2TIN An example response is 2TIN0010_0110_1100_0000_XXXX_XXXX_XXXX_XXXX Onboard I O I O Location Programming Status Report Assignment Limit Inputs DRIVE I O connector LIMFNC LIMEN LIMLVL TLIM LIM Inputs digital DRIVE I O connector INFNC INLVL INEN ONIN INPLC INSTW TIN IN Outputs digital DRIVE I O connector O...

Page 11: ...to TOUT onboard outputs status command TOUT0000_000 Input bit pattern for TIN IN INFNC INLVL INEN INPLC INSTW and ONIN Bit Pin Function 1 37 Input 1 if assigned TRIG A 2 38 Input 2 if assigned TRIG B 3 39 Input 3 4 34 Input 4 5 35 Input 5 if assigned TRIG M If the input is assigned the trigger interrupt function with the INFNCi H command TRIG A must be on Input 1 TRIG B must be on Input 2 TRIG M m...

Page 12: ...nboard I O Each I O brick has 32 I O addresses referenced as absolute I O point locations SIM slot 1 I O points 1 8 SIM slot 2 I O points 9 16 SIM slot 3 I O points 17 24 SIM slot 4 I O points 25 32 Example Slot 1 I O points 1 8 Slot 2 I O points 9 16 Slot 3 I O points 17 24 Slot 4 I O points 25 32 Slot 1 I O points 1 8 Digital Inputs SIM I O Brick 1 Gem6K Drive Controller Slot 2 I O points 9 16 D...

Page 13: ...GRAM Command is not allowed inside a program definition between DEF and END COMMAND DRIVE MISMATCH The command is not appropriate to the type of drive being used e g attempting to execute a servo tuning command on a stepper axis ERROR MOTION ENDS IN NON ZERO VELOCITY Compiled Motion The last GOBUF segment within a PLOOP PLN loop does not end at zero velocity or there is no final GOBUF segment plac...

Page 14: ...s 999999999 or negative FOLRN Error if follower steps 999999999 or negative FSHFC Error if number is not 0 3 FSHFD Error if follower steps 999999999 or 999999999 GOWHEN Error if position 999999999 or 999999999 WAIT Error if position 999999999 or 999999999 Error if a GO command is given in the preset positioning mode MCØ and FOLRN zero FOLMD zero or too small see Following chapter in the Programmer...

Page 15: ...HFD During a change in ratio FOLRN FOLRD During deceleration to a stop OUTPUT USED AS OUTFNC Attempting to change an output that is not an OUTFNCi A output PROFILE ALREADY MOVING Compiled Profile compilation error PROFILE NOT COMPILED Attempting to execute a profile that has not been compiled STRING ALREADY DEFINED A string program name or label with the specified name already exists STRING IS A C...

Page 16: ...mand error has occurred the command and its fields are stored and system status bit 11 reported in the TSSF TSS and SS commands is set to 1 The status bit remains set until the TCMDER command is issued Example Error Scenario 1 In Motion Planner s program editor create and save a program with a programming error DEL badprg Delete a program before defining and downloading DEF badprg Begin definition...

Page 17: ...ands Command Function Average S Curve Accel Decel Commands Command Function A Acceleration AA Average Acceleration AD Deceleration ADA Average Deceleration HOMA Home Acceleration HOMAA Average Home Acceleration HOMAD Home Deceleration HOMADA Average Home Deceleration JOGA Jog Acceleration JOGAA Average Jog Acceleration JOGAD Jog Deceleration JOGADA Average Jog Deceleration JOYA Joystick Accelerati...

Page 18: ...ation commands AA deceleration will track AA acceleration However once you change A deceleration AA deceleration will no longer track changes in AA acceleration For example if you never change the AD or ADA command values ADA will track the AA command value But once you change AD the ADA command value will no longer track the changes in the AA command value Calculating Move Times The calculation f...

Page 19: ... V 2 JA A 2 A t1 t Ø a t JA t 2 JA t 2 v t 6 JA t 3 d t B t2 t t1 a t A 2JA A 2 v t A t t1 6 JA t1 3 d t V1 t t1 2 A t t1 2 C t3 t t2 a t A JA t t2 v t V 2 JA t3 t 2 2AA V 2 d t V t3 t 6 JA t3 t 3 Starting at a Non Zero Velocity If starting the acceleration profile with a non zero initial velocity the move comprises two components a constant velocity component and an s curve component Typically th...

Page 20: ...nloaded Consequently you must enable scaling SCALE1 and define the scaling factors SCLD SCLA SCLV SCLMAS prior to defining DEF uploading TPROG or running RUN the program NOTE All scaling settings SCALE SCLA SCLD SCLV and SCLMAS are automatically saved in the Gem6K s battery backed RAM RECOMMENDED Place the scaling commands at the beginning of your program file before the location of any defined pr...

Page 21: ...owing equations can help you determine the range of acceleration and deceleration values Axis Type Min Accel or Decel resolution Max Accel or Decel Stepper 0 001 DRES SCLA 999 9999 DRES SCLA Servo Encoder Feedback 0 001 ERES SCLA Encoder Feedback 999 9999 ERES SCLA Velocity Scaling SCLV Stepper Axes If scaling is enabled SCALE1 all velocity values entered are internally multiplied by the velocity ...

Page 22: ...fected by Master Scaling SCLMAS Commands Affected by Follower Scaling SCLD FMCLEN Master Cycle Length FMCP Master Cycle Position Offset FOLMD Master Distance FOLRD Follower to Master Ratio Denominator GOWHEN Conditional GO left hand variable is PMAS TPMAS PMAS Position of Master Axis TVMAS VMAS Velocity of Master Axis FOLRN Follower to Master Ratio Numerator FGADV Geared Advance FSHFD Preset Phase...

Page 23: ...ost quadrature SCALE1 Enable scaling SCLD20000 Allow user to enter distance values in inches SCLV20000 Allow user to enter velocity values in inches sec SCLA20000 Allow user to enter accel decel values in inches sec sec DRESET Reset the drive so the DRES value is accepted Scaling Example Following Typically the master and follower scale factors are programmed so that master and follower units are ...

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Page 25: ...the associated command will affect the indicated task number For most simple multi tasking applications the prefix is used to start a program running in a specific task For example the drawing on the right illustrates how the 1 move1 command starts the program called move1 in task 1 specified with the 1 prefix Program Memory Task Management Supervisor Task 1 Gx6K Drive 1 move1 Assign Task 1 to exe...

Page 26: ...commands and commands executed from the communications buffer are implicitly directed to affect the supervisor unless explicitly directed to a task with the prefix Only the supervisor executes buffered commands from the communications buffer If the supervisor is executing a program incoming commands will be buffered not executed If the supervisor is not executing a program it will execute commands...

Page 27: ...ing the comment delimiter is as follows DEF pick Begin definition of program pick cr Label Declaration Type Operator Other Syntax a_ t Units t text name Range Text name of 6 characters or less Default n a Response n a See Also DEF DEL END GOSUB GOTO JUMP RUN TLABEL Product Rev GT6K 6 0 GV6K 6 0 The Label Declaration command defines the current location as the label specified A label consists of 6 ...

Page 28: ...e step mode is enabled STEP1 Each time you enter the i command followed by a delimiter i commands in the sequence buffer will be executed A followed by a delimiter will cause one command to be executed Single step mode can be advantageous when trying to debug a program Example DEF tst Begin definition of program named tst V1 Set velocity to 1 unit sec A10 Set acceleration to 10 units sec sec D1 Se...

Page 29: ...c data in the form of data Once numeric data has been received place it in numeric variable 5 65 12 Variable 5 will receive the value 65 12 Bit Select Type Operator Other Syntax command i Units i bit number Range Command dependent Default None Response n a See Also AS ER ERROR IN INEN INLVL INO INTHW LIMLVL MOV ONIN ONUS OUT OUTEN OUTLVL POUT SS TAS TER TIN TINO TIO TOUT TSS TUS US Product Rev GT6...

Page 30: ...ple if you wanted to display the message WHY ASK WHY in quotes you would use the following syntax WRITE 34WHY ASK WHY 34 An ASCII table is provided in Appendix B Common characters and their ASCII equivalent value Character Description ASCII Decimal Value lf Line Feed 10 cr Carriage Return 13 Quote 34 Colon 58 Semi colon 59 Backslash 92 cannot be used with DWRITE ASCII Character Designator Type Ope...

Page 31: ...ot the number of relational operators e g the command IF VAR1 1 AND VAR2 4 AND VAR3 4 is a legal command When is used as an assignment operator it can be used with these commands VAR VARI VARB VARS When is used as an equivalence operator it can be used with these commands IF WHILE UNTIL WAIT Greater Than Type Operator Relational Syntax See below Units n a Range n a Default n a Response n a See Als...

Page 32: ...ange n a Default n a Response n a See Also AND IF OR UNTIL WAIT WHILE Product Rev GT6K 6 0 GV6K 6 0 The less than operator is used to compare two values If the value on the left of the operator is less than the value on the right of the operator then the expression is TRUE If the value on the left is greater than or equal to the value on the right of the operator then the expression is FALSE The l...

Page 33: ...xpression is TRUE If the value on the left is equal to the value on the right of the operator then the expression is FALSE The not equal operator can only be used to compare two values More than one operator can be used within a single command however the total command length is limited to 80 characters The operator can be used in conjunction with the IF WHILE UNTIL and WAIT commands Examples of v...

Page 34: ...he left of the operator The subtraction operator can only be used in conjunction with the VAR VARI and VARB commands The total command length must be less than 80 characters The order of precedence is left to right The Operation Priority Level operators can be used however they cannot be nested Examples of valid command s VAR1 1 2 3 4 5 6 7 8 9 VAR2 VAR1 1 5 3 VARB1 b111101 b11001 Multiplication T...

Page 35: ...operator when used with the VAR or VARI command The Boolean And performs a bitwise AND on the two values to the left and right of the operator when used with the VARB command For a logical AND using VAR or VARI the possible combinations are as follows positive number positive number 1 positive number zero or a negative number 0 zero or negative number positive number 0 zero or negative number zero...

Page 36: ...will be composed of 9 possible combinations 1 1 1 X X 1 1 0 1 1 X 1 0 1 1 X 1 1 0 0 0 0 X X X 0 X Example VARB1 b1001 01X1 XX11 b1000 1011 10 Response to VARB1 is VARB1 1001_1111_1X11_XXXX_XXXX_XXXX_XXXX_XXXX Example VARB1 h1234 hFAD31 Response to VARB1 is VARB1 1111_0101_1111_1110_1000_0000_0000_0000 Example VARB1 h23 b1101 001X 001X 1X11 Response to VARB1 is VARB1 1101_111X_001X_1X11_XXXX_XXXX_X...

Page 37: ...e used however they cannot be nested Boolean Not Type Operator Bitwise Syntax See Below Units n a Range n a Default n a Response n a See Also VAR VARI VARB Product Rev GT6K 6 0 GV6K 6 0 The Boolean Not operator performs a logical NOT on the value immediately to its right when used with the VAR or VARI command The Boolean NOT performs a bitwise NOT on the value immediately to its right when used wi...

Page 38: ...000_0000_0000 The total command length must be less than 80 characters The order of precedence is left to right Shift from L to R Bit 1 to Bit 32 Type Operator Bitwise Syntax See Below Units n a Range n a Default n a Response n a See Also VAR VARI VARB Product Rev GT6K 6 0 GV6K 6 0 The Shift L to R operator shifts a binary value from left to right increasing its value the number of bits specified ...

Page 39: ...0 The Send Response to Alternate Port command is used to send the response from the command which follows it to the alternate port from the one selected If a report back is requested from port COM1 the response will be sent out port COM2 and vice versa If a command is in a stored program the report will be sent out the alternate port from the one selected by the PORT command If a syntax error occu...

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Page 41: ...d will set the deceleration rate Once the deceleration AD command has been entered the acceleration A command no longer affects deceleration ON THE FLY CHANGES You can change acceleration on the fly while motion is in progress in two ways One way is to send an immediate acceleration command A followed by an immediate go command GO The other way is to enable the continuous command execution mode CO...

Page 42: ...t accel ramp and tracking set AA 0 Response AA AA10 0000 See Also A AD ADA SCALE SCLA DMEPIT Product Rev GT6K 6 0 GV6K 6 0 The AA command allows you to specify the average acceleration for an S curve motion profile S curve profiling provides smoother motion control by reducing the rate of change in acceleration and deceleration this accel decel rate of change is known as jerk Refer to page 15 for ...

Page 43: ...essage INVALID DATA FIELD x where x is the field number When an invalid deceleration is entered the previous deceleration value is retained If the deceleration AD command has not been entered the acceleration A command will set the deceleration rate Once the deceleration AD command has been entered the acceleration A command no longer affects deceleration If the AD command is set to zero ADØ then ...

Page 44: ...tion Type Motion S Curve Syntax a_ ADA r Units r units sec sec linear motors see DMEPIT for linear rotary conversion Range 0 0001 9999 9999 Default 10 00 By default ADA tracks AA until ADA is changed independent of AA To restore tracking set AD 0 Response ADA ADA10 0000 See Also A AA AD DMEPIT LHADA LSADA SCALE SCLA Product Rev GT6K 6 0 GV6K 6 0 The ADA command allows you to specify the average de...

Page 45: ...e commands below and then connect them in a multi drop 1 Connect the unit that is to be unit 1 and transmit the Ø_ADDR1 command to it 2 Connect the unit that is to be unit 2 and transmit the Ø_ADDR2 command to it 3 Connect the unit that is to be unit 3 and transmit the Ø_ADDR3 command to it 4 Connect the unit that is to be unit 4 and transmit the Ø_ADDR4 command to it If you need to replace a unit...

Page 46: ...resent at an analog input ANI to a variable or to make a comparison against another value The ANI value is measured in volts The ANI value is derived from the voltage applied to the corresponding analog input and ground The analog value is determined from a 12 bit analog to digital converter Under the default ANI voltage range set with ANIRNG the range of the ANI operator is 10 000VDC to 10 000VDC...

Page 47: ...eases the performance of the remaining channels this is important if an input channel is to be used as a Following source ANIMAS and FOLMAS selection Example 1ANIEN 9 E E Enable the 1st 2nd analog input in SIM slot 2 I O locations 9 10 on I O brick 1 1ANIEN 11 2 4 Override the 3rd analog input in SIM slot 2 I O location 11 on I O brick 1 with a voltage of 2 4 volts 2ANIEN Check status of analog in...

Page 48: ...oard analog input ANI 1 is fixed at 10VDC to 10VDC and is not affected by the ANIRNG command Be aware that changing the analog input voltage range affects these settings ANIRNG Setting Voltage Range Counts volt resolution 1 0 to 5VDC 819 2 5 to 5VDC 410 3 0 to 10VDC 410 4 10 to 10VDC 205 Example 2ANIRNG 9 3 For the 1st analog input on SIM2 of I O brick 2 select a voltage range of 0 to 10VDC ANO Se...

Page 49: ...omparison against another value The ANO value is derived from the voltage applied to the corresponding analog output and ground The analog value is determined from a 10 bit digital to analog converter and the value set with the ANO command The range of the ANO operand is 10 00VDC to 10 00VDC Syntax VARn B ANO i where n is the variable number B is the number of the I O brick and i is I O brick addr...

Page 50: ...X 2 Negative positive direction 1 negative Ø positive X X 3 Accelerating commanded acceleration only TACC This bit does not indicate commanded deceleration bit is set to 0 during decel to check if the axis is decelerating the state of TAS bits 1 3 and 4 should be TAS1x00 X X 4 At commanded velocity TVEL X X 5 Home Successful HOM YES NO X X 6 Absolute Incremental MA position mode selected 1 MA1 Ø M...

Page 51: ... RELAY COM and RELAY N O on the 4 pin removable connector Syntax VARBn AS where n is the binary variable number or AS can be used in an expression such as IF AS b11Ø1 or IF AS h7F If it is desired to assign only one bit of the axis status value to a binary variable instead of all 32 the bit select operator can be used The bit select operator in conjunction with the bit number is used to specify a ...

Page 52: ... or RESET or DRESET or cycle power 20 Power Dissipation Circuit has been active not applicable to GV6K U3 GV6K U6 and GV6K U12 drives X X DCLRLR or RESET or cycle power 21 Bad Hall state detected Use THALL for diagnostics X RESET or cycle power 22 Unrecognized hardware consult factory X X RESET or cycle power 23 User Fault input activated INFNCi F X X Deactivate the input 24 Keep Alive active User...

Page 53: ...command To convert radians to degrees use the formula 360 2π radians y x r b a θ sin θ a r cos θ b r tan θ a b Syntax VARi ATAN r where i is the variable number and r is a real number value Parentheses must be used with the ATAN command The result will be specified to 2 decimal places in either radians or degrees Example RADIAN1 Enable radian mode VAR1 ATAN 0 75 Set variable 1 equal to the inverse...

Page 54: ...ses BP Set a Program Break Point Type Program Flow Control or Program Debug Tool Syntax a_ BP i Units i break point number Range 1 32 Default n a Response n a See Also BREAK C HALT K S SS TSS Product Rev GT6K 6 0 GV6K 6 0 The BP command allows the programmer to set a place in the program where command processing will halt and a message will be transmitted to the PC There are 32 break points availa...

Page 55: ...ive 0 BREAK If condition is true break out of program ELSE Else part of if condition TPE If condition does not come true transfer position of encoder NIF End If statement END End program definition RUN prog1 Execute program prog1 Upon completion of motion subroutine prog2 is called If inputs 1 and 3 are in the correct state when the subroutine is entered the subroutine will be terminated and retur...

Page 56: ... the Gem6K drive processes the S command motion will be stopped If the desired distance has not been reached motion can be resumed by issuing the C command If motion and command processing are to stop a Kill K command can be issued CERRLG Clear the Error Log Type Error Handling Syntax a_ CERRLG Units n a Range n a Default n a Response n a See Also TAS TASX TDHRS TDTEMP TERRLG TMTEMP Product Rev GT...

Page 57: ...N MA MC or V change can be executed only with a buffered Go GO command For more information about on the fly motion changes refer to the Programmer s Guide Pre processing the next move while the current move is in progress see CAUTION note below This reduces the processing time for the subsequent move to only a few microseconds CAUTION Avoid Executing Moves Prematurely With continuous command exec...

Page 58: ...d COMEXL1 then all commands following the command currently being executed will remain in the command buffer when a limit is hit If save command buffer on limit is disabled COMEXLØ then every command in the buffer will be discarded and program execution will be terminated Example COMEXL1 Save the command buffer if the limit is hit COMEXR Continue Motion on Pause Continue Input Type Command Buffer ...

Page 59: ...ram execution is terminated COMEXS1 Using the COMEXS1 mode the Gem6K allows more flexibility in responding to stop conditions depending on the stop method see table below Stop Method What Stops Motion Program Resume Motion Profile Allow resume with a C command or a resume input Resume Program Allow resume with a C command or a resume input Save Command Buffer Save the commands that were in the com...

Page 60: ...lustration at right If a value is given in radians and a conversion is needed to degrees or vice versa use the formula 360 2π radians y x r b a θ sin θ a r cos θ b r tan θ a b The graph to the right shows the amplitude of y on the unit circle for different values of x y Cos x 1 0 707 0 1 0 707 4 4 3π π 5π 4 7π 4 2π 3π 2 2 Radians Amplitude y axis x axis 2π Radians 360 Degrees π π Syntax VARi COS r...

Page 61: ... message INVALID DATA FIELD x where x is the field number UNITS OF MEASURE and SCALING refer to page 16 ON THE FLY CHANGES You can change distance on the fly while motion is in progress in two ways One way is to send an immediate distance command D followed by an immediate go command GO The other way is to enable the continuous command execution mode COMEXC1 and execute a buffered distance command...

Page 62: ...2 Variable 1 programmed distance times 2 D VAR1 Set the distance to the value of variable 1 NIF End the IF statement DABSD Enable ABS Damping Type Drive Configuration Syntax a_ DABSD b Units b enable bit Range 0 disable or 1 enable Default 0 disabled Response DABSD DABSD1 See Also DACTDP DDAMPA DELVIS Product Rev GT6K 6 0 GV6K n a applicable only to stepper axes The DABSD command enables or disabl...

Page 63: ...mping at accelerations 50 revs sec sec Disabled n a These features are based on motor and load parameters that you set up with the configuration utility in Motion Planner see page 6 For optimum damping performance accurate motor and load parameters are required NOTE If you select a Parker motor with the configuration utility all of the motor parameters excluding LJRAT which sets the load to rotor ...

Page 64: ...T3 Example Refer to the Reset Data Pointer DATRST command example DATA Data Statement Type Data Storage Syntax a_ DATA r r r r Units r data value Range 999 999 999 99999999 Default n a Response n a See Also DAT DATP DATPTR DATRST DATTCH MEMORY Product Rev GT6K 6 0 GV6K 6 0 The DATA command is used only in the data programs DATP to identify the data statements The DATA command is followed by an equ...

Page 65: ...l as the current location of the data pointer and the increment setting see TDPTR command description for details The DPTR command can be used to compare the current pointer location the number of the data element to which the data pointer is pointing against another value or variable or to assign the pointer location number to a variable As an example suppose data program 1 DATP1 is configured to...

Page 66: ...data element 1 to 6500 Default n a Response n a See Also DAT DATA DATP Product Rev GT6K 6 0 GV6K 6 0 The DATRST command sets the internal data pointer to a specific data element in a data program DATP i As data is recalled from a data program with the DAT command the pointer automatically increments to the next data element If the pointer reaches the end of the program it automatically wraps aroun...

Page 67: ...bular structure where the data elements are stored 4 to a line Each line of data elements is called a data statement Each element is numbered in sequential order from left to right 1 4 and top to bottom 1 4 5 8 9 12 etc You can use the TPROG DATPi command i represents the number of the data program to display all the data elements of the data program For example if you issue the DATSIZ1 13 command...

Page 68: ...Repeat loop until the data pointer wraps around to data element 1 END End definition of program called TEACH DATTCH Data Teach Type Data Storage Syntax a_ DATTCHi i i i Units i number of a numeric variable Range i 1 225 Default n a Response n a See Also DAT DATP DATPTR DATSIZ DATTCH VAR Product Rev GT6K 6 0 GV6K 6 0 The Data Teach DATTCH command stores the values from the specified numeric variabl...

Page 69: ...and that the drive issues WARNING Motor torque is reduced when the motor current is reduced Applications with vertical loads or loads that require holding torque at zero speed should not use this feature DCLEAR Clear Display Type Display RP240 Interface Syntax a_ DCLEARi Units n a Range i 0 clear all lines 1 clear line 1 or 2 clear line 2 Default n a Response n a See Also DLED DPASS DPCUR DSTP DVA...

Page 70: ...he energy or a drive over voltage fault reported in TASX bit 13 occurs In all GT6K drives the GV6K L3 GV6K H20 and GV6K H40 internal regenerative power dissipation circuitry is provided to dissipate this energy when this circuitry is activated TASX bit 20 is set and latched In the GV6K U3 GV6K U6 and GV6K U12 drives the external Gemini Power Dissipation Module or GPDM option can be used to dissipa...

Page 71: ...n of or execution of a program versus the definition or execution of a subroutine Both a program and a subroutine are defined as the set of commands between a DEF t and an END command If an invalid program subroutine name is entered an error message will be generated An invalid program subroutine name is any name that is also a current command An example of an invalid name would be DEFhom1 because...

Page 72: ... DDAMPA DMTR LJRAT Product Rev GT6K 6 0 GV6K n a applicable only to stepper axes When the DELVIS command is set to a non zero value DELVIS1 through DELVIS7 Electronic Viscosity is invoked at speeds below 3 revs sec Electronic Viscosity is superseded by the ABS damping function enabled with the DABSD1 command at speeds below approximately 0 2 revs sec If Damping During Acceleration is disabled DDAM...

Page 73: ...ss of how DHALL is set Once the motor begins to rotate and after it passes through another valid Hall state the motor commutation sequence switches over to using the encoder only and therefore no longer requires the use of the Hall sensors At this point a check is made to see if DHALL is set to 0 Hall checking on or 1 Hall checking off For a complete description on how to troubleshoot Hall sensors...

Page 74: ...ET SGENB TGAIN TSGSET DIFOLD Current Foldback Enable Type Drive Configuration Syntax a_ DIFOLD b Units b enable bit Range 0 disable or 1 enable Default 0 Response DIFOLD DIFOLD0 See Also Product Rev GT6K n a GV6K 6 0 applicable only to servo axes The DIFOLD command enables 1 or disables 0 the drive s current foldback protection feature The current foldback feature reduces the drive s continuous cu...

Page 75: ...d DRIVE0 before making any changes to the DIGN values When making changes to DIGNA DIGNB and DIGNC values the ratio between the values must remain constant That is multiply or divide all three gain values by the same amount Increasing the DIGN values can improve system performance however setting an excessive DIGN value will cause the motor to sing emit a high pitched squeal or screech when it is ...

Page 76: ...the RP240 s display is cleared To have the jog mode continually enabled during program execution you must use jog inputs and the JOG command DKEY Value of RP240 Key Type Display RP240 Interface Assignment or Comparison Syntax See below Units n a Range n a Default n a Response n a See Also DCLEAR DPCUR DREAD DREADF DREADI DVAR DWRITE Product Rev GT6K 6 0 GV6K 6 0 The DKEY operator allows you to rea...

Page 77: ...e configuration utility in Motion Planner see page 6 If you did not use the configuration utility or are not using a Parker linear servo motor this command is set to 0 and assumes a rotary motor Refer to DMTR for a list of auto configured commands For more information on linear motion see the Programmer s Guide The DMEPIT command sets the electrical pitch of the magnets for use with permanent magn...

Page 78: ...el e g V A AD DMEPIT 1000 1000 DMEPIT DMTD motor damping DMTJ motor forcer mass LDAMP load damping 2 π 1000 2 DMEPIT 2 DMEPIT 2 2 π 1000 2 DMTLIM force limit DMTSCL force scaling 2 π 1000 DMEPIT DMEPIT 2 π 1000 If you are constructing your own motor data files use the formulas from the table below The key conversion parameter is r and is defined as 2 1000 DMEPIT mm r π Linear Motor Convert to rota...

Page 79: ... to the Hardware Installation Guide X X 14 RESERVED 15 Torque Force Tuning Mode 10 Hz step input of 25 rated motor current for torque force mode tuning X 16 Velocity Tuning Mode 1 Hz 2 rps mps step velocity command for velocity mode tuning X 17 Position Tuning Mode 1 Hz 1 4 rev epitch step position command for position mode tuning X Refer to the servo tuning procedures in the Hardware Installation...

Page 80: ...alue is normalized as follows value clips at 1 rev or 1 electrical pitch regardless of the DMONAS setting Rotary motors 10V 1 rev based on TPER ERES Linear motors 10V 1 epitch based on TPER DMEPIT X 4 Velocity Setpoint TVEL User commanded velocity Normalized to 10 volts equals 200 revs sec rotary or 8 4 meters sec linear X X 5 Estimated Actual Velocity TVELA Output of velocity estimator based on e...

Page 81: ...rmalized as follows value clips at 1 rev or 1 electrical pitch epitch regardless of the DMONAS setting Rotary motors 10V 1 rev based on TPC ERES Linear motors 10V 1 epitch based on TPC DMEPIT X 24 Actual Position This value is normalized as follows value clips at 1 rev or 1 electrical pitch regardless of the DMONAS setting Rotary motors 10V 1 rev based on TPE ERES Linear motors 10V 1 epitch based ...

Page 82: ...ec linear X 6 Acceleration Setpoint TACC User commanded acceleration X X 7 Torque Force Setpoint TTRQ User commanded torque force X 8 Actual Torque Force TTRQA Calculated torque force based on measured motor current and motor Ke DMTKE Scaled as a of DMTSCL X 9 Velocity Error TVE Normalized to 10 volts equals 200 revs sec rotary or 8 4 meters sec linear X 10 Phase A Commanded CurrentInstantaneous c...

Page 83: ...t Rev GT6K n a GV6K 6 0 applicable only to servo axes The DMTAMB command sets the motor ambient temperature used by the software motor thermal model The DMTAMB value in conjunction with the motor thermal time constant DMTTCM the motor winding time constant DMTTCW the motor thermal resistance DMTRWC and the continuous motor current DMTIC is used in a real time estimation of the motor winding temper...

Page 84: ...owered up when this command is set to zero for instance if RFS is executed the drive reports a motor configuration warning with TASX bit 28 and writes 40 to TCS The DMTIC command sets the continuous operating current for a motor For a servo drive operating a rotary motor continuously at this current the internal winding temperature will reach 125 C with a specified heatsink see the Gemini Motor Re...

Page 85: ...ered up when this command is set to zero for instance if RFS is executed the drive reports a motor configuration error with TASX bit 7 writes a value of 32726 to the TCS register and shuts down the drive DRIVE0 The DMTIND command sets the motor phase inductance for stepper motors only servo motor inductance is set with DMTLMN and DMTLMX The motor inductance entered is the motor phase inductance yo...

Page 86: ...DMTR TASX TCS Product Rev GT6K 6 0 GV6K 6 0 NOTE This command does not take effect until you cycle power to the drive or issue a RESET or DRESET command AUTO SETUP This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner see page 6 If you did not use the configuration utility or are not using a Parker Motor this command is set to zer...

Page 87: ... DMTIP DMTKE DMTR DMTSCL TASX TGAIN TSGSET TTRQ TTRQA Product Rev GT6K n a GV6K 6 0 applicable only to servo axes AUTO SETUP This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner see page 6 If you did not use the configuration utility or are not using a Parker Motor this command is set to zero and you will have to manually set thi...

Page 88: ...sured line to line Range 0 1 to 200 0 motor dependent 0 1 Default 0 0 DMTLMN of 0 results in motor config error Response DMTLMN DMTLMN10 0 See Also DMTLMX DMTR TASX TCS Product Rev GT6K n a GV6K 6 0 applicable only to servo axes NOTE This command does not take effect until you cycle power to the drive or issue a RESET or DRESET command AUTO SETUP This command is automatically set according to the ...

Page 89: ...otor inductance This will usually differ from the nominal nameplate value since actual inductance is usually position dependent DMTMAX Maximum Motor Winding Temperature Type Motor Syntax a_ DMTMAX r Units r Degrees Celsius Range 50 0 to 250 0 0 1 Default 125 0 Response DMTMAX DMTMAX125 0 See Also DMTAMB DMTIC DMTRWC DMTTCM DMTTCW TASX Product Rev GT6K n a GV6K 6 0 applicable only to servo axes AUT...

Page 90: ...tant DMTD Motor Damping DMTTCW Motor Winding Time Constant DMTIC Continuous Current DMTW Motor Rated Speed DMTICD Continuous Current Derating DMVLIM Velocity Limit DMTIP Peak Current DPBW Position Loop Bandwidth DMTJ Motor Rotor Inertia DPOLE Number of Motor Pole Pairs DMTKE Motor Ke DRES Drive Resolution DMTLIM Torque Force Limit ERES Encoder Resolution DMTLMN Minimum Motor Inductance ORES Encode...

Page 91: ... resistance measured at terminals A to A or B to B For servos this resistance is the phase to phase resistance measured at termnals U to V V to W or W to U NOTE Disconnect the motor cable from the drive before attempting to make this measurement For best accuracy and to avoid injury this measurement must be made with the motor cable disconnected from the drive DMTRWC Motor Winding Thermal Resistan...

Page 92: ... these conversions for you when you use the Setup Wizard If you do not use the Setup Wizard you must convert your linear units to rotary units See the DMEPIT command for information on conversion DMTSTT Motor Static Torque Type Drive Configuration Syntax a_ DMTSTT i does not take effect until RESET DRESET or cycle power Units i oz in Range 0 to 5000 Default 0 DMTSTT of 0 results in motor config er...

Page 93: ...urface provides heatsinking or thermal mass significantly different than this a different value may be appropriate to your application Note also that the time constant of the motor winding itself DMTTCW is much faster than this therefore the rise in winding temperature will initially be much faster than DMTTCM would suggest DMTTCW Motor Winding Time Constant Type Motor Syntax a_ DMTTCW r does not ...

Page 94: ...eed torque or speed force curve the point where the continuous torque force breaks downward The DMTW value is used in conjunction with DMTICD to protect the motor from thermal damage NOTE The Gem6K requires values in rotary units Motion Planner does these conversions for you when you use the Setup Wizard If you do not use the Setup Wizard you must convert your linear units to rotary units See the ...

Page 95: ...o axes The DNOTAD command sets the depth for the commanded torque force notch filter A Setting this to 0 disables the filter This command is useful in adjusting the maximum allowable attenuation and phase shift through the filter The deeper the notch depth the more attenuation and phase shift In general the notch depth is increased until the resonance is diminished Increasing the depth further mig...

Page 96: ...nter frequency for the commanded torque force notch filter A Setting this to 0 disables the filter If setting a value results in an internal calculation error the last valid value is used TASX bit 28 is set and a value of 551 is written to the TCS register There are two cascaded notch filters labeled A and B Both filters operate in exactly the same way The graphs below illustrate the transfer func...

Page 97: ...pplicable only to servo axes The DNOTBD command sets the depth for the commanded torque force notch filter B Refer to DNOTAD for a complete description of the notch filter depth Working with servo gains Servo tuning process refer to the Hardware Installation Guide Check the values of all active gains DNOTBD is one of many servo gains use TGAIN Creating and invoking gain sets see SGSET SGENB TGAIN ...

Page 98: ... of the lead filter This filter cannot be used alone but must be used in conjunction with the DNOTLG lag filter The DNOTLG lag filter must be configured before the DNOTLD lead filter is configured The DNOTLD value must be less than or equal to 4 times the DNOTLG notch lag frequency value otherwise the new DNOTLD value will be ignored but not overwritten the configuration warning bit TASX bit 28 wi...

Page 99: ...dware Installation Guide Check the values of all active gains DNOTLG is one of many servo gains use TGAIN Creating and invoking gain sets see SGSET SGENB TGAIN TSGSET DPASS Change RP240 Password Type Display RP240 Interface Syntax a_ DPASS i Units i integer of up to 4 characters Range 1 9999 Default For the Gx6K DPASS6000 Response DPASS DPASS6000 See Also DCLEAR DLED DPCUR DSTP DVAR DVARB DVARI DW...

Page 100: ...DPCUR command changes the location of the cursor on the RP240 display The RP240 lines are numbered from top to bottom 1 to 2 The columns are numbered left to right 0 to 39 F2 F3 F4 F5 F6 F1 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39 0 1 2 3 4 5 6 7 8 9 10 1112 1314 1516 1718 1920 2122 2324 2526 2728 2930 3132 3334 3536 3738 39 0 Example DPCUR2 15 ...

Page 101: ...esponse DPOLE DPOLE50 See Also DMTR TASX TCS Product Rev GT6K 6 0 GV6K 6 0 NOTE This command does not take effect until you cycle power to the drive or issue a RESET or DRESET command AUTO SETUP This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner see page 6 If you did not use the configuration utility or are not using a Parker M...

Page 102: ...e drive s default frequency GV6K U3 GV6K U6 GV6K U12 GV6K H20 GV6K H40 8 KHz GV6K L3 40 KHz Response DPWM8 See Also Product Rev GT6K n a GV6K 6 0 applicable only to servo axes NOTE This command does not take effect until you cycle power to the drive or issue a RESET or DRESET command Use the DPWM command to select the drive s PWM frequency This value is the internal PWM frequency as seen at the mo...

Page 103: ...nteger value denoted by i you can use the DREAD substitution A DREAD Wait for RP240 numeric entry terminated with the ENTER key then set acceleration equal to that value The DREAD command cannot be used in an expression such as VAR5 4 DREAD or IF DREAD 1 DREADF Read RP240 Function Key Type Display RP240 Interface Syntax See below Units n a Range n a Default n a Response n a See Also DREAD DREADI D...

Page 104: ...ta will be displayed at cursor location 1 30 fixed New data will be displayed at current cursor location as defined by the previous DCLEAR DWRITE and DPCUR commands this is the home cursor location for subsequent data entries L77 Start loop of 77 repetitions D VAR1 Set distance equal to the current last entered RP240 data GO1 Initiate move LN End loop DREADI0 Exit RP240 data read immediate mode As...

Page 105: ...R3 DREAD Set VAR3 equal to the numeric data entered on the RP240 s keypad NIF End IF statement IF VAR2 2 If function key 2 is pressed do the IF statement input velocity DWRITE ENTER VEL VALUE Send message to RP240 display starting at location 1 0 VAR4 DREAD Set VAR4 equal to the numeric data entered on the RP240 s keypad NIF End IF statement IF VAR2 3 If function key 3 is pressed do the IF stateme...

Page 106: ...mmunication Interface Syntax a_ DRESET Units n a Range n a Default n a Response DRESET no response parameters listed below are reset See Also RESET RFS TASX Product Rev GT6K 6 0 GV6K 6 0 The DRESET command performs a limited software reset of the parameters listed below Unlike the RESET command which affects the drive the same as cycling power or activating the hardware Reset input the DRESET comm...

Page 107: ... was opened Example DRIVE1 Enable the drive DRPCHK RP240 Check Type Communication Interface Display RP240 Interface Syntax a_ DRPCHK i Units n a Range 0 3 Default 0 for port COM1 and COM2 PORT command setting determines which COM port s DRPCHK setting is checked Response DRPCHK DRPCHK0 See Also LOCK PORT XONOFF Product Rev GT6K 6 0 GV6K 6 0 The DRPCHK command is used to indicate whether a port is ...

Page 108: ...rive Stall Detection function An encoder is not required for this function An encoder is required for Encoder Stall Detection refer to the ESTALL command A setting of 0 disables the drive stall detect function Stall sensitivity is an empirical metric therefore you must iteratively try different settings to identify the sensitivity setting that works best for your application When a Drive Stall is ...

Page 109: ...cimal point Range 0 9 3rd i Number of fractional digits displayed right of decimal point Range 0 8 4th i Sign bit 0 no sign displayed 1 display or Example VAR2 542 14 Assign the value 542 14 to variable 2 DVAR2 6 3 1 Display variable 2 as 000542 140 DVAR2 3 1 0 Display variable 2 as 542 1 DVAR2 3 1 Display variable 2 as 542 DVARB Display Binary Variable on RP240 Type Display RP240 Interface Syntax...

Page 110: ... n a applicable only to stepper axes The DWAVEF command sets the percentage of 3rd harmonic included in the commanded motor current waveform A procedure for configuring the waveform is provided in the Hardware Installation Guide refer to the section entitled Motor Control Settings DWRITE Write Text on RP240 Type Display RP240 Interface Syntax a_ DWRITE message Units n a Range Message can be 80 cha...

Page 111: ...unication on Default b 1 Response 0_E E1 See Also ADDR BAUD DRPCHK ECHO LOCK PORT XONOFF Product Rev GT6K 6 0 GV6K 6 0 The E command allows you to enable and disable serial ports on the Gem6K drive To enable all units in the RS 232 daisy chain or RS 485 multi drop at one time you can use the E1 command The PORT command determines which COM port is affected by the E command Example PORT1 Next comma...

Page 112: ...ds to provide conditional branching If the expression contained within the parentheses of the IF command evaluates true then the commands between the IF and the ELSE are executed and the commands after the ELSE until the NIF are ignored If the expression evaluates false the commands between the ELSE and the NIF are executed and the commands between IF and ELSE are ignored The ELSE command is optio...

Page 113: ...nits n a Range i 0 256 Default 13 10 0 Response EOL EOL13 10 0 See Also BOT EOT ERRLVL PORT WRITE XONOFF Product Rev GT6K 6 0 GV6K 6 0 The EOL command designates the characters to be placed at the end of each line but not the last line in a multi line response The last line of a multi line response has the EOT characters Up to 3 characters can be placed at the end of each line The characters are d...

Page 114: ...uivalents refer to the ASCII Table in Appendix B Example EOT13 10 0 Place a carriage return and a line feed after the last line of a multi line response and after all single line responses ER Error Status Type Assignment or Comparison Syntax See below Units n a Range n a Default n a Response n a See Also ASX DSTALL ERROR ERRORP ESTALL GOWHEN INFNC K LH LIMFNC LS S SMPER STRGTT TASX TER TERF Produc...

Page 115: ...8 Cable to an expansion I O brick is disconnected or power to the I O brick is lost error is cleared by reconnecting the I O brick and issuing the ERROR 18 0 command and then the ERROR 18 1 command Multi tasking This condition also kills all tasks 19 RESERVED 20 RESERVED 21 RESERVED 22 RESERVED 23 Ethernet Client connection error 24 Ethernet Client polling error 25 32 RESERVED Stepper axes only Se...

Page 116: ...g SCALE disabled the number of encoder counts received back would be the encoder resolution value ERES A standard 1000 line per revolution encoder gives 4000 counts post quadrature If the encoder is coupled to the back of a motor the ERES value will be 4000 This value along with the drive resolution value DRES are important for the motion algorithm to correctly interpret move distances move veloci...

Page 117: ...resolution post quad is 1 µm and the electrical pitch is 42mm DMEPIT42 ERES is calculated as 42000 10 1 42 3 count mm mm ERES Dynaserv stepper or servo DR10xxB ERES507904 DR1xxxE ERES614400 DR1xxxA ERES819200 DR5xxxB ERES278528 DR5xxxA ERES425894 DM10xxB ERES655360 DM1xxxA ERES1024000 DM1004x ERES655360 Example for stepper axis SCALE0 Disable scaling DEL proga Delete program called proga DEF proga...

Page 118: ...carriage return only in the output buffer after processing an erroneous command ERRDEF Program Definition Prompt Type Communication Interface Syntax ERRDEF i i i i Units n a Range i 0 256 Default 13 10 45 32 Response ERRDEF ERRDEF13 10 45 32 See Also BOT END EOT ERRBAD ERRLVL ERROK PORT XONOFF Product Rev GT6K 6 0 GV6K 6 0 The ERRDEF command designates the characters to be placed into the output b...

Page 119: ...re is one corresponding to the error see list on page 11 6 EOT end of transmission characters The default EOT transmission is a carriage return 7 ERRBAD characters The default ERRBAD transmission characters are in order of transmission carriage return line feed prompt and space Soliciting information and checking responses In each command description there is a Response field that identifies the p...

Page 120: ...hen an error is detected Default is the character Error message see page 11 Characters when no error is detected Characters when an error is detected BOT EOT EOL Command ERROK BOT EOT EOL ERRBAD Error Msg ERRLVL4 ERRLVL3 ERRLVL2 ERRLVL1 ERRLVL0 Example The examples below show the Gem6K s response to the TAS status command under all five ERRLVL settings The factory default BOT EOT EOL and ERROK cha...

Page 121: ...eate a null terminated string in a C language The PORT command determines which COM port is affected by the ERROK command Example ERROK13 0 0 0 Place a carriage return only in the output buffer after processing a valid command ERROR Error Checking Enable Type Error Handling Syntax a_ ERROR b b b b 32 bits Units n a Range b 0 disable 1 enable or X don t change Default 0 Response ERROR ERROR0000_000...

Page 122: ...ximum Position Error set with the SMPER command is exceeded GOSUB 14 GOWHEN condition already true when a subsequent GO FSHFC or FSHFD command is executed GOSUB 16 Bad command detected bit is cleared with TCMDER command GOSUB 18 Cable to an expansion I O brick is disconnected or power to the I O brick is lost error is cleared by reconnecting the I O brick or restore power to the I O brick and issu...

Page 123: ...RVED Stepper axes only Servo axes only NOTE ERRORL bits 5 6 8 9 13 15 32 are reserved ERRORP Error Program Assignment Type Error Handling Syntax a_ ERRORP t Units t text name of error program Range Text name of 6 characters or less Default n a Response ERRORP ERRORPerr1 See Also ER ERRLVL ERROR TER Product Rev GT6K 6 0 GV6K 6 0 Using the ERRORP command you can assign any previously defined program...

Page 124: ...continuously called repeated until you cancel the branch to the error program This is true for all cases except error condition 9 enable input activated in which case the error program is called only once There are three ways to cancel the branch Disable the error checking bit with the ERROR n 0 command where n is the number of the error checking bit you wish to disable For example to disable erro...

Page 125: ...logic use the TRACE and STEP features if necessary 16 Bad command detected Gosub Issue the TCMDER command 18 Expansion I O brick disconnected or lost power Multi tasking This condition also kills all tasks Goto if KIOEN1 Gosub if KIOEN0 Reconnect I O brick or restore power Then issue ERROR 18 0 and then ERROR 18 1 23 Ethernet Client connection error Gosub Clear the error bit ERROR 23 0 then re est...

Page 126: ...per axes The ESDB command establishes the number of motor steps that a move will travel after a change in direction before stall detection is initiated If there is no change in direction the stall backlash deadband value will not be used to determine if there is a stall condition To use the stall backlash deadband encoder based stall detection ESTALL must be enabled A stall condition will be recor...

Page 127: ... stall condition exists To accurately detect a stall the drive resolution DRES and the encoder resolution ERES must be properly set When a stall is detected the GT6K responds as follows The stall is reported with Axis Status bit 12 reported with TAS TASF and AS The stall is reported with Extended Axis Status bit 17 reported with TASX TASXF and ASX If error checking bit 1 is enabled ERROR 1 1 The s...

Page 128: ...E FAILED will be set SS 32 will be cleared upon the next successful EXE directed to that task Because the PLCP program ignores the EXE command if a currently running program is detected within the specified task the EXE command can only be used to initiate a new program if the task is not already running a program Like the INSELP command the program launched by the EXE command will not interrupt a...

Page 129: ...ition scalable of encoder is less than 500 do the commands following the IF statement until the NIF command VAR4 FB 1000 Set variable 4 equal to current position of encoder plus 1 000 NIF End of IF statement FFILT Following Filter Type Following Syntax a_ FFILT i Units i filtering level Range i 0 1 2 3 or 4 Default 0 Response FFILT FFILT0 See Also FMAXA FMAXV FPPEN Product Rev GT6K 6 0 GV6K 6 0 Th...

Page 130: ...TFSF bit 24 reports if a FGADV move is underway Example COMEXC1 All command processing during motion FOLRN25 Set numerator of follower to master Following ratio FOLRD10 Set denominator of follower to master Following ratio FOLMD1000 Set master distance to 1000 units MC1 Enable continuous positioning mode D Set direction to positive FOLEN1 Enable Following GO Ramp up to a 2 5 to 1 ratio over 1000 m...

Page 131: ... FMAXV r Units r units sec scalable with SCLV Range r 0 000000 1600000 000000 Default 0 00 no limit imposed Response FMAXV FMAXV0 0000 See Also FS FFILT FMAXA FPPEN SCLV TFS TFSF Product Rev GT6K 6 0 GV6K n a applicable only to stepper axes The FMAXV command sets the maximum velocity at which follower axes may travel The FMAXV command accepts numeric variables VAR as an argument and is scaled by t...

Page 132: ...ctor to 4000 FMCLEN3 Set master cycle length to 3 user units FMCNEW Restart Master Cycle Counting Type Following Syntax a_ FMCNEW b Units n a Range b 0 do not restart or 1 restart immediately Default n a Response n a See Also FMCLEN FMCP GOWHEN NMCY PMAS TPMAS TRGFN WAIT Product Rev GT6K 6 0 GV6K 6 0 The FMCNEW1 command restarts master cycle counting This sets the master cycle position PMAS to the...

Page 133: ...or the specified trigger TRGFNcx1 the initial master cycle position will be 7 Rollover will occur after the master travels 13 more units and the master cycle position would go to zero Example FMCP 2 Set the initial master cycle position to 2 FOLEN Following Mode Enable Type Following Syntax a_ FOLEN b Units n a Range b 0 disable or 1 enable Default 0 Response FOLEN FOLEN0 See Also FGADV FOLK FOLMA...

Page 134: ...to 4 000 steps rev assumes an encoder resolution of 4 000 steps rev SCLMAS4000 Set master scale factor to 4000 steps rev The application program is defined as follows DEL FOLTST Delete program called FOLTST DEF FOLTST Begin definition of program called FOLTST INFNC1 H Set input 1 TRG 1A to be trigger interrupt used with GOWHEN later COMEXC1 Select continuous command processing mode MC1 Select cont...

Page 135: ... in order to coordinate motion Scaling Set Up prior to defining program SCALE1 Enable scaling SCLA16000 Set accel scaling 16 000 steps inch SCLV16000 Set velocity scaling 16 000 steps inch SCLD16000 Set follower distance scaling 16 000 steps inch SCLMAS16000 Set master scale factor to 16 000 steps inch to program in inches The application program is defined as follows DEF STAMPR Begin definition o...

Page 136: ... not moving To impose the shift assign the negative of the internally monitored shift value PSHF to a variable e g VAR1 1 PSHF and command the shift using a variable substitution in the FSHFD command e g FSHFD VAR1 The FOLK command only preserves Following profiles normal velocity based profiles will be killed regardless of the FOLK command FOLMAS Assignment of Master to Follower Type Following Sy...

Page 137: ...sking to calculate VARI values but the resulting updates will not be as fast not perfectly periodic consequently Follow motion will be less smooth If scaling is enabled SCALE1 the measurement of the master is scaled by the SCLMAS value For more information on scaling refer to page 16 or to the SCLMAS command description NOTES A follower axis cannot use its own feedback device or commanded position...

Page 138: ...aster distance over which the next preset move will take place If scaling is enabled SCALE1 the FOLMD value is specified in user units and is scaled by the SCLMAS parameter for more detail on scaling refer to page 16 or to the SCLMAS command description Numeric variables VAR can be used with this command e g FOLMD VAR6 By carefully specifying accurate master distances for each ramp of a follower s...

Page 139: ... while motion is in progress in two ways One way is to send an immediate command FOLRD followed by an immediate go command GO The other way is to enable the continuous command execution mode COMEXC1 and execute a buffered command FOLRD followed by a buffered go command GO Example refer also to the FOLEN examples SCLD25000 Set follower scaling factor to 25 000 SCLMAS4000 Set master scaling factor t...

Page 140: ...s finish with zero FOLRNF If scaling is enabled SCALE1 the FOLRNF value is scaled by the SCLD value For more detail on scaling refer to page 16 or to the SCLD command description NOTE The only allowable value for FOLRNF is Ø and it may only be used with compiled preset Following moves a non zero FOLRNF value will result in an immediate error message FOLRNF is allowed for a segment only if the star...

Page 141: ...OLMAS Active A master is specified with the FOLMAS command 6 FOLEN Active Following has been enabled with the FOLEN command 7 Master is Moving The specified master is currently in motion 8 Master Dir Neg The current master direction is negative bit must be cleared to allow Following move in preset mode MCØ 9 OK to Shift Conditions are valid to issue shift commands FSHFD or FSHFC 10 Shifting now A ...

Page 142: ... the bit select operator The bit select in conjunction with the bit number is used to specify a specific Following status bit e g VARB1 FS 12 assigns status bit 12 to binary variable 1 Example VARB1 FS Following status assigned to binary variable 1 VARB2 1FS 12 Following status bit 12 assigned to binary variable 2 VARB2 Response if bit 12 is set to 1 should be VARB2 XXXX_XXXX_XXX1_XXXX_XXXX_XXXX_X...

Page 143: ...rameters have been entered for the master and follower In this example the follower is continually following the master at a 1 1 ratio If the operator notices some misalignment between master and follower he can press 1 of 2 pushbuttons connected to onboard trigger inputs 1 and 2 which are also referred to as TRG 1A and TRG 1B to shift the follower in the positive or negative direction at 0 1 user...

Page 144: ...be added to the present speed at which the follower is moving up to the velocity limit of the product For example assume a follower is traveling at 1 rps in the positive direction while following a master If a FSHFD move is commanded in the positive direction at 2 rps the follower s actual velocity after acceleration will be 3 rps An FSHFD move may be needed to adjust the follower position on the ...

Page 145: ... Count Acceleration Type Following Syntax a_ FVMACC i Units i count acceleration in counts sec sec Range 0 999 999 999 Default 0 Response FVMACC FVMACC 0 See Also FOLMAS FVMFRQ SINAMP SINANG SINGO Product Rev GT6K 6 0 GV6K 6 0 Use the FVMACC command to define the rate at which the virtual master internal count frequency may change This command allows smooth changes in master velocity and direction...

Page 146: ...tion changes Velocity V Distance D Preset or Continuous Positioning Mode Selection MC Incremental or Absolute Positioning Mode Selection MA Following Ratio Numerator and Denominator FOLRN and FOLRD respectively The motion parameters can be changed by sending the respective command e g A V D MC etc followed by the GO command If the continuous command execution mode is enabled COMEXC1 you can execut...

Page 147: ...erwise the end velocity will be equal to the goal velocity V of the previous segment Ending velocity of a GOBUF segment Preset Positioning Mode MCØ A preset motion segment starts at the previous motion segment s end velocity attempts to reach the goal velocity V with the programmed acceleration and deceleration A and AD values and is considered completed when the distance D goal is reached In non ...

Page 148: ...tered no branch will occur and processing will continue with the line after the GOSUB If you do not want to use the GOSUB command before the subroutine name GOSUBsubname you can simply use the subroutine name without the GOSUB attached to it subname If a subroutine is executed and a BREAK command is received the subroutine will return control to the calling program or subroutine immediately Up to ...

Page 149: ...and has already been encountered If you wish to avoid this nesting situation use the JUMP command instead of the GOTO command Example DEF pick Begin definition of subroutine named pick D 5000 Set distance to 5000 GO1 Initiate motion END End subroutine definition DEF place Begin definition of subroutine named place GOTO pick Goto to subroutine named pick D 5000 Set distance to 5000 GO1 Initiate mot...

Page 150: ... FB PC PE PSLV or PSHF The right hand operand is multiplied by the SCLMAS value if the left hand operand is PMAS The SCLD or SCLMAS values used correlate to the axis specified with the variable e g a GOWHEN expression with PE scales the encoder position by the SCLD value specified GOWHEN Status Axis Status Bit 26 Bit 26 is set when motion has been commanded by a GO FGADV FSHFC or FSHFD command but...

Page 151: ... activated see TRGFN command description for details In addition GOWHEN expressions are limited to the operands listed above WAIT can use additional operands such as FS Following status and VMAS velocity of master Factors Affecting GOWHEN Execution If a second GOWHEN command is executed before a start motion command GO FGADV FSHFC or FSHFD then the first GOWHEN is over written by the second GOWHEN...

Page 152: ...re true Command processing does not wait so other system functions may be performed END End definition of program HALT Terminate Program Execution Type Program Flow Control Syntax HALT Units n a Range n a Default n a Response n a See Also BP BREAK C ELSE IF K NIF NWHILE PS REPEAT S T UNTIL WAIT WHILE Product Rev GT6K 6 0 GV6K 6 0 The HALT command terminates program execution when processed This co...

Page 153: ...ond end of travel limit is encountered after the change of direction the homing operation will be aborted The status of the homing operation is provided by bit 5 of the axis status register refer to the TAS or AS command When the homing operation is successfully completed the absolute position register is set to zero equivalent to PSETØ NOTE Pause and resume functions are not recommended during th...

Page 154: ...ts sec sec linear motors see DMEPIT for linear rotary conversion Range 0 0001 9999 9999 Default 10 0000 Response HOMA HOMA10 0000 See Also DMEPIT HOM HOMA HOMAA HOMAD HOMADA HOMBAC HOMDF HOMEDG HOMV HOMVF HOMZ SCALE SCLA Product Rev GT6K 6 0 GV6K 6 0 The HOMA command specifies the acceleration rate to be used upon executing the next go home HOM command UNITS OF MEASURE and SCALING refer to page 16...

Page 155: ...oming avg decel to 5 rev sec sec HOM1 Execute a pure S curve homing move in the negative direction END End definition of program HOMAD Home Deceleration Type Homing Syntax a_ HOMAD r Units r units sec sec Range 0 or 0 0001 9999 9999 Default 10 0000 by default HOMAD tracks HOMA until HOMAD is changed independent of HOMA to restore tracking set HOMAD 0 Response HOMAD HOMAD10 0000 See Also HOM HOMA H...

Page 156: ...ault 0 Response HOMBAC HOMBAC0 See Also HOM HOMA HOMAA HOMAD HOMADA HOMDF HOMEDG HOMV HOMVF HOMZ Product Rev GT6K 6 0 GV6K 6 0 The HOMBAC command enables or disables the backup to home switch function When this function is enabled the motor will decelerate to a stop after encountering the active edge of the home region and then move the motor in the opposite direction at the home final velocity HO...

Page 157: ... Direction End of Travel Limit Positive Direction End of Travel Limit Negative Direction Edge of Home Positive Direction Edge of Home Example Refer to the go home HOM command example HOMV Home Velocity Type Homing Syntax a_ HOMV r Units r units sec scalable with SCLV linear motors see DMEPIT for linear rotary conversion Range Stepper Axes 0 0000 60 0000 after conversion to revs sec Servo Axes 0 00...

Page 158: ...ned UNITS OF MEASURE and SCALING refer to page 16 Example Refer to the go home HOM command example HOMZ Home to Encoder Z channel Enable Type Homing Syntax a_ HOMZ b Units n a Range b 0 disable or 1 enable Default 0 Response HOMZ HOMZ0 See Also ASX HOM HOMA HOMAA HOMAD HOMADA HOMBAC HOMDF HOMEDG HOMV HOMVF INFNC INLVL TASX Product Rev GT6K 6 0 GV6K 6 0 The HOMZ command enables homing to an encoder...

Page 159: ... length The total character count for the IF command and expression cannot exceed 80 characters e g If you add up the letters in the IF command and the letters within the expression including the parenthesis and excluding each space this count must be less than or equal to 80 All assignment operators A AD AS ASX D ER IN MOV OUT PC PCE PCM PE PER PMAS SEG SS TIM US V VEL VELA etc can be used within...

Page 160: ... VARB Binary variable ER Error status PMAS Position of Master VEL Commanded velocity FB Feedback device pos PME Master encoder pos VELA Actual velocity FS Following status PSHF Net position shift VMAS Velocity of the master IN Input status PSLV Follower pos command INO Enable input status SC Controller status LIM Limit input status SCAN PLC scan time MOV Axis moving status SEG Free segment buffers...

Page 161: ...xpression such as IF 2IN b11Ø1 or IF 2IN h7F To assign only one input value to a binary variable instead of all the inputs the bit select operator can be used For example VARB1 2IN 10 assigns the binary state of input 10 2nd pin on SIM 2 on I O brick 2 to binary variable 1 The function of the inputs is established with the INFNC command although the IN operator looks at any trigger or external dig...

Page 162: ... subsequent bouncing of the input from causing a false position capture The default setting is 24 ms Limit Inputs The limit inputs found on the DRIVE I O connector are not normally debounced however if a limit is assigned a different function with the LIMFNC command other than LIMFNCi R LIMFNCi S or LIMFNCi T the input is debounced using the INDEB setting for the onboard inputs If a general purpos...

Page 163: ...us bit being defined 16 maximum Second i corresponds to the bit of the axis status AS the system status SS the input status IN or the extended axis status ASX The c defines what status to use c Value Function c Value Function A Use axis status AS K RESERVED B H RESERVED L Use extended axis status ASX I Use system status SS M S RESERVED J Use input status IN If you are using multitasking the I valu...

Page 164: ...slot is changed different SIM vacant SIM slot or jumper setting the drive will set the SIM to factory default INEN and OUTLVL settings If a new SIM is installed where there was none before the new SIM is auto configured to factory defaults Example INEN1 disables input 1 but leaves it in the ON state the TIN command will show input 1 as active INENØ disables input 1 but leaves it in the OFF inactiv...

Page 165: ...ate and be recognized Inputs that are assigned the Trigger Interrupt function INFNCi H are instead debounced by the TRGLOT value Inputs defined as limit inputs INFNCi R INFNCi S or INFNCi T will not be debounced Input bit assignments vary The input bit patterns for onboard and external I O bricks are explained on page 8 of this document Input Scan Rate The programmable inputs are scanned once per ...

Page 166: ...st be on Input 1 2 38 INFNC2 A General purpose If assigned TRG B must be on Input 2 3 39 INFNC3 A General purpose 4 34 INFNC4 A General purpose 5 35 INFNC5 A General purpose If assigned MASTER TRIGGER must be on Input 5 A Trigger Interrupt input can be used for these purposes Position Capture You can assign up to two trigger inputs referred to as TRIG A and TRIG B If assigned TRIG A must be on onb...

Page 167: ...for using the status information in a conditional expression e g in an IF statement The TTRIG TRIG bits are cleared when the respective captured position is read see table above I Alarm Event Will cause the Gem6K drive to set an Alarm Event in the Communications Server over the Ethernet interface You must first enable the Alarm checking bit for this input driven alarm INTHW 23 1 For details on usi...

Page 168: ...he program access function and access to the DEF DEL ERASE MEMORY INFNC and LIMFNC commands will be denied until you activate the input To regain access to these commands without the use of the program access input you must issue the INEN command to disable the program security input make the required user memory changes and then issue the INEN command to re enable the input For example if input 3...

Page 169: ...gh Sourcing Closed connected to ground 0 INLVL1 active high Sourcing Open 1 INLVL0 active low Sinking Closed connected to V 0 INLVL0 active low Sinking Open 1 INLVL1 active high Sinking Closed connected to V 1 INLVL1 active high Sinking Open 0 The inputs are factory configured to source current If you wish the inputs to sink current connect the pull up terminals pins 27 and 33 on the DRIVE I O con...

Page 170: ...nary variable instead of all 8 use the bit select operator For example VARB1 INO 6 assigns the status of the ENABLE input to binary variable 1 Format for binary assignment Bit 1 Bit 8 0000_0000 Bit Function Location 1 5 RESERVED 6 Enable input 1 OK for motion DRIVE I O connector 7 8 RESERVED Example VARB2 INO 6 ENABLE input status assigned to binary variable 2 VARB2 Response if bit 6 is set to 1 V...

Page 171: ...ut 10 as the data valid 1OUTPLC2 1 4 5 50 Set OUTPLC set 2 as output strobes on outputs 1 4 on I O brick 1 with output 5 as the output enable bit and strobe time of 50 milliseconds A TW6 Read data into acceleration using INPLC set 2 and OUTPLC set 2 as the data configuration INSELP Select Program Enable Type Input Syntax a_ INSELP i i Units See below Range 1st i 0 1 or 2 2nd i 0 5000 Default 0 0 R...

Page 172: ...ut and the second number is the last input The inputs must be consecutive The number of inputs should be compatible to the thumbwheel device Refer to page 8 for help in identifying which input bits are available to place in this field Field 3 i Sign Input This field identifies which input is designated to provide sign information A zero specified in the command field specifies no sign information ...

Page 173: ...y of the inputs defined by INFNCi I 24 Command Error 25 Motion Complete 26 Reserved 27 Reserved 28 Reserved 29 Reserved 30 Reserved 31 Reserved 32 Reserved Bits 1 12 software alarms are forced with the INTSW command INTSW Force an Alarm Event Type Alarm Event Syntax a_ INTSW i Units i alarm event condition see list in INTHW Range i 1 12 Default n a Response n a See Also INTHW Product Rev GT6K 6 0 ...

Page 174: ...ernally then shifted such that the starting bit is the low order bit of the resulting binary value A change in the starting bit input will always result in a change of 1 in the resulting VARI even if the starting bit number is not 1 INVARI i B i i VARI number Range is 1 8 I O Brick number 0 for onboard inputs 1 8 for external EVM32 I 0 bricks Starting bit location on I O brick Range is 1 32 The in...

Page 175: ...es not stop and wait for the jog mode to be disabled JOGØ Instead the jog inputs are enabled and command processing continues with the first command after the JOG1 command WARNING If a jog input is active when jog mode is enabled motion will occur To disable jog mode issue the JOGØ command at any point in the program NOTE If you are using an RP240 operator panel you can enable the RP240 Jog Mode w...

Page 176: ...been entered the jog acceleration JOGA command no longer affects jog deceleration Example Refer to the jog mode enable JOG command example JOGAA Jogging Average Acceleration Type Jog Motion S Curve Syntax a_ JOGAA r Units r units sec sec Range 0 00001 39 999 998 depending on the scaling factor Default 10 00 Default is a constant accel ramp where JOGAA tracks JOGA S curve accel is achieved when JOG...

Page 177: ...celeration JOGAD command has been entered the jog acceleration JOGA command no longer affects jog deceleration If JOGAD is set to zero JOGADØ then the jog deceleration will once again track whatever the JOGA command is set to Example Refer to the jog mode enable JOG command example JOGADA Jogging Average Deceleration Type Jog Motion S Curve Syntax a_ JOGADA r Units r units sec sec Range 0 00001 39...

Page 178: ...lue is retained UNITS OF MEASURE and SCALING refer to page 16 Example Refer to the jog mode enable JOG command example JOGVL Jog Velocity Low Type Jog Syntax a_ JOGVL r Units r units sec scalable with SCLV Range Stepper Axes 0 0000 60 0000 after conversion to revs sec Servo Axes 0 0000 200 0000 after conversion to revs sec if ERES 10 000 maximum 2 000 000 ERES Default 0 5000 Response JOGVL JOGVL0 ...

Page 179: ... motion always uses the JOYVH velocity Max Velocity when Velocity Select input switch is closed low JOYVL command Accel JOYA command Accel for s curve profiling JOYAA command Decel JOYAD command Decel for s curve profiling JOYADA command 6 Define the usable voltage zone for your joystick make sure you have first assigned the analog inputs see step 4 above End Deadband JOYEDB Defines the voltage of...

Page 180: ...on should be read Setup Code the drawing below shows the usable voltage configuration 1INFNC6 M Assign Joystick Release function to brick 1 input 6 1INFNC7 O Assign Joystick Velocity Select function to brick 1 input 7 JOYAXH1 17 Assign analog input 17 to control the axis JOYVH10 Max velocity is 10 units sec when the Velocity Select input switch 1IN 7 is open high JOYVL1 Max velocity is 1 unit sec ...

Page 181: ...d has been entered the joystick acceleration JOYA command no longer affects joystick deceleration Example Refer to the joystick mode enable JOY command example JOYAA Joystick Average Acceleration Type Motion S Curve Syntax a_ JOYAA r Units r units sec sec Range 0 or 0 3 9999 9999 Default 10 00 Default is a constant accel ramp where JOYAA tracks JOYA S curve accel is achieved when JOYAA is changed ...

Page 182: ...ce the joystick deceleration JOYAD command has been entered the joystick acceleration JOYA command no longer affects joystick deceleration If JOYAD is set to zero JOYADØ then the joystick deceleration will once again track whatever the JOYA command is set to Example Refer to the joystick mode enable JOY command example JOYADA Joystick Average Deceleration Type Motion S Curve Syntax a_ JOYADA r Uni...

Page 183: ...OYAXH JOYCTR JOYEDB JOYVH JOYVL JOYZ Product Rev GT6K 6 0 GV6K 6 0 The JOYCDB command defines for the specified analog input the zero velocity range on either side of the Center Voltage established with the JOYCTR command or the JOYZ command The default setting is 0 1V which sets the zero velocity range at 0 1V to 0 1V assuming the default JOYCTR default of 0 0V is used NOTE Executing the JOYCDB c...

Page 184: ..._ JOYVH r Units r units sec Range Stepper Axes 0 004 60 0000 after conversion to revs sec Servo Axes 0 004 200 0000 after conversion to revs sec if ERES 10 000 maximum 2 000 000 ERES Default 0 5000 Response JOYVH JOYVH0 5000 See Also IN INFNC JOY JOYA JOYAA JOYAD JOYADA JOYCDB JOYCTR JOYEDB JOYVL JOYZ SCALE SCLV TIN TLIM Product Rev GT6K 6 0 GV6K 6 0 The JOYVH command specifies the maximum velocit...

Page 185: ...ck Zero Type Joystick Syntax a_ B JOYZ i b multiple inputs per brick may be configured at one time Units B I O brick number i Location of the analog input on I O brick see page 8 b enable bit Range B 1 8 i 1 32 b 0 don t zero or 1 zero or X don t change Default n a Response n a See Also ANIRNG JOY JOYA JOYAA JOYAD JOYADA JOYAXH JOYCDB JOYCTR JOYEDB JOYVH JOYVL Product Rev GT6K 6 0 GV6K 6 0 The JOY...

Page 186: ...subroutines are cleared thus the program or label that the JUMP initiates will not return control to the line after the JUMP when the program completes operation Instead the program will end If an invalid program or label name is entered the JUMP will be ignored and processing will continue with the line after the JUMP Example In this example the program bottom is executed and calls the top subrou...

Page 187: ...d with SCANP a K command will clear the scan Example A2 Set acceleration to 2 units sec sec AD2 Set deceleration to 2 units sec sec V1 Set velocity to 1 units D10 Set distance to 10 units GO1 Initiate motion motion begins After a short period the Kill command is sent K Kill motion stop at the LHADA LHAD decel CTRL K Kill Motion Type Motion Syntax CTRL K Units n a Range n a Default n a Response CTR...

Page 188: ...ould be cable disconnection or loss of power on the EVM32 I O brick The options are as follows KIOEN0 factory default The Gem6K will not perform a kill SEE WARNING NOTE BELOW KIOEN1 The Gem6K will perform a kill all motion and program execution on all tasks if an EVM32 I O failure is detected Regardless of the state of the KIOEN command you can enable error bit 18 ERROR 18 1 and use an error progr...

Page 189: ... cause the next loop encountered to be nested within the previous loop unless an LN command has already been encountered Example DEL flash Delete program flash DEF flash Begin definition of program flash L5 Repeat the commands between L and LN five times A20 Set acceleration to 20 revs sec D8300 Set distance to 8300 counts WAIT AS 1 b0 Wait until no motion is commanded OUTxxx1 Turn on output 4 T 7...

Page 190: ...tive end of travel limit 3 31 LIMFNC3 T Home limit The LH command is required to enable checking the state of the end of travel limits i e LIMFNCi R or LIMFNCi S for example LH3 is required to detect the occurrence of the hardware limit activation as reported with axis status bits 15 and 16 see TASF TAS AS The default LH condition is enabled LH3 With limits disabled motion will not be restricted W...

Page 191: ...upon a Kill command or Kill input and allows the motor load to freewheel to a stop without a controlled deceleration The hard limit deceleration remains set until you change it with a subsequent hard limit deceleration command Decelerations outside the valid range are flagged as an error with a message INVALID DATA FIELD x where x is the field number When an invalid deceleration is entered the pre...

Page 192: ...front of the value The hexadecimal value itself must only contain the letters A through F or the numbers Ø through 9 LIM does not depict the status of onboard inputs or external digital inputs assigned an end of travel or home limit function INFNCi R INFNCi S or INFNCi T For such inputs you must use the IN operator Syntax VARBn LIM where n is the binary variable number or LIM can be used in an exp...

Page 193: ...d LH3 The input bit patterns for onboard and external I O bricks are explained on page 8 of this document Example DEL tsting Delete program called tsting DEF tsting Begin definition of program called tsting LIMFNC3 E Define hardware end of travel limit 3 normally defined as the home end of travel limit as a pause resume input COMEXR1 Activating the pause resume input will pause command and motion ...

Page 194: ...tate and be recognized When a limit input is assigned a function other than its respective end of travel or home LIMFNC function R S or T it is debounced the INDEB setting for I O brick zero default is 4 ms If a limit is once again returned to its respective LIMFNC function the debounce is removed Input scan rate The limit inputs are scanned once per system update 2 milliseconds Enabling disabling...

Page 195: ...use the drive to set an Alarm Event in the Communications Server over the Ethernet interface You must first enable the Alarm checking bit for this input driven alarm INTHW 23 1 For details on using alarms refer to the Programmer s Guide J JOG positive direction Will jog the axis in a positive direction The JOG command must be enabled for this function to work K JOG negative direction Will jog the ...

Page 196: ... access to these commands without the use of the program access input you must issue the LIMEN command to disable the program security input make the required user memory changes and then issue the LIMEN command to re enable the input For example if limit input 3 is assigned as the Program Security input use LIMEN 3 1 to disable the input and leave it activated make the necessary user memory chang...

Page 197: ...ed sinking current device driving the input is on 0 FAULT limit hit Not Grounded not sinking current device driving the input is off 1 no limit hit Compumotor recommends that all end of travel limit switches be normally closed because with normally closed limit switches the drive detects a limit fault condition and stops or inhibits motion when the switch contact is open or if the wiring to the sw...

Page 198: ...ncountered to be nested within the previous loop unless an LN command has already been encountered Example L5 Repeat the commands between L and LN five times GO1 Start motion LN End loop LOCK Lock Resource to Task Type Multi tasking Syntax a_ LOCK i i Units 1st i resource number 2nd i 1 lock the resource or 0 unlock the resource Range 1st i 1 COM1 port 2 COM2 port or 3 task swapping 2nd i 1 lock t...

Page 199: ...LS i Units n a Range i 0 disable both 1 disable positive direction 2 disable negative direction or 3 enable both Default 0 Response LS LS0 See Also AS ER LH LSAD LSADA LSNEG LSPOS PSET TAS TER TSTAT Product Rev GT6K 6 0 GV6K 6 0 The LS command determines the status of the programmable soft move distance limits With soft limits disabled motion will not be restricted After a soft limit absolute posi...

Page 200: ...e the valid range are flagged as an error with a message INVALID DATA FIELD x where x is the field number When an invalid deceleration is entered the previous deceleration value is retained Example Refer to the soft limit enable LS command example LSADA Soft Limit Average Deceleration Type Motion S Curve Limit End of Travel Syntax a_ LSADA r Units r units sec sec linear motors see DMEPIT for linea...

Page 201: ...99 999 to 999 999 999 after conversion to steps Default 0 Response LSPOS LSPOS 0 See Also LS LSAD LSADA LSNEG PSET SCALE SCLD Product Rev GT6K 6 0 GV6K 6 0 The LSPOS command specifies the distance in absolute units where motion will be restricted when traveling in a positive travel direction The reference position used to determine absolute position is set to zero upon power up and can be reset us...

Page 202: ... of the same distance In absolute mode MA1 all moves are made with respect to the absolute zero position The absolute zero position is equal to zero upon power up and can be redefined with the PSET command An internal counter keeps track of absolute position ON THE FLY CHANGES You can change positioning modes on the fly while motion is in progress in two ways One way is to send an immediate comman...

Page 203: ...e motion is in progress in two ways One way is to send an immediate command MC followed by an immediate go command GO The other way is to enable the continuous command execution mode COMEXC1 and execute a buffered command MC followed by a buffered go command GO Example DEL demo Delete program demo DEF demo Begin definition of program demo COMEXC0 Disable continuous command processing mode MA0 Enab...

Page 204: ...profile a series of GOBUF commands or a PLC program for PLC Scan Mode Programs intended to be compiled are stored in program memory After they are compiled with the PCOMP command they remain in program memory and the segments see diagram below from the compiled program are stored in compiled memory The TDIR report indicates which programs are compiled as compiled profiles COMPILED AS A PATH and wh...

Page 205: ... all existing programs and compiled segments However issuing the MEMORY command by itself e g type MEMORY cr by itself to request the status of how the memory is allocated will not affect existing programs or compiled segments Checking Memory Status To find out what programs reside in your drive s memory and how much of the available memory is allocated for programs and compiled profile segments i...

Page 206: ...6 0 GV6K 6 0 Use the MESND command to specify the functionality of the Master Encoder input MESND0 default setting accept a quadrature signal from the master encoder MESND1 Accept step and direction signals The count is registered on a positive edge of a transition for a signal measured on encoder channel A and A connections The direction of the count is specified by the signal on encoder channel ...

Page 207: ... in conjunction with the IF and ELSE commands to provide conditional program flow If the expression contained within the parentheses of the IF command evaluates true then the commands between the IF and the ELSE are executed and the commands between the ELSE and the NIF are ignored If the expression evaluates false the commands between the ELSE and the NIF are executed and the commands between IF ...

Page 208: ...ng to serial port NIF End of IF statement VAR12 NMCY Set VAR12 to equal the number of cycles that have occurred on the master NOT Not Type Operator Logical Syntax See below Units n a Range n a Default n a Response n a See Also AND IF NWHILE OR REPEAT UNTIL WAIT WHILE Product Rev GT6K 6 0 GV6K 6 0 The NOT operator is used in conjunction with the program flow control commands IF REPEAT UNTIL WHILE N...

Page 209: ...s that Ethernet communication is disabled NTFEN0 To enable Ethernet communication you must connect to the Gem6K s RS 232 serial port COM2 and send the NTFEN command which is appropriate for your Ethernet configuration see options below Then you can communicate over the Ethernet connection Options NTFEN0 Use NTFEN0 to disable Ethernet communication NTFEN1 NTFEN1 is primarily intended for use with W...

Page 210: ...et allows the Gem6K to communicate that the job was completed satisfactorily or that a specific error caused the job to fail For details on using Fast Status and COM6SRVR refer to the Communication Server Programmer s Reference NWHILE End WHILE Statement Type Program Flow Control or Conditional Branching Syntax a_ NWHILE Units n a Range n a Default n a Response No response when used in conjunction...

Page 211: ...VARB Enable When ON conditions WILL NOT interrupt immediately These are situations in which an ON condition does not immediately interrupt the program in progress However the fact that the ON condition evaluated true is retained and when the condition listed below is no longer preventing the interrupt the interrupt will occur While a WAIT statement is in progress While a time delay T is in progres...

Page 212: ...brick can be referenced in an ONIN condition for a specific task Example DEF bigmov Define program bigmov D20 Set move distance to 20 units GO1 Initiate motion END End program definition ONP bigmov Set ON program to bigmov 2ONINxxx11xx1 When inputs 4 5 and 8 on I O brick 2 are activated GOSUB to the ONP program ONCOND1000 Enable ONIN condition Now that the ONP program named bigmov is defined if in...

Page 213: ...a branch to the ON program ONP If the bit pattern occurs a GOSUB is performed The subroutine or program that the GOSUB branches to is selected by the ON program ONP command The ONUS command must be enabled using the ONCOND command before any branching will occur Once a branch to the ONP program occurs ONUS command will not call the ONP program while the ONP program is executing eliminating the pos...

Page 214: ...Set ON program to bigmov ONVARA0 12 On VAR1 0 or VAR1 12 GOSUB to ONP program ONCOND0010 Enable ONVARA condition ONVARB On Variable 2 Condition Gosub Type On Condition Program Interrupt Syntax a_ ONVARB i i i Units See below Range 999 999 999 99999999 Default 0 0 0 0 0 0 Response ONVARB ONVARB 0 0 0 0 0 0 See Also ONCOND ONP ONVARA VAR VARI Product Rev GT6K 6 0 GV6K 6 0 The ONVARB command specifie...

Page 215: ...GT6K or Encoder Output GV6K Type Drive Configuration Outputs Syntax a_ ORES i does not take effect until RESET DRESET or cycle power Units Rotary motors i counts rev Linear motors i counts electrical pitch Range GT6K 200 128000 0 to disable GV6K 200 1073741823 0 to disable Default GT6K 0 GV6K 4000 Response ORES ORES4000 See Also DMEPIT DMTR DRES ERES TASX TER TPC TPE Product Rev GT6K 6 0 GV6K 6 0 ...

Page 216: ...Rev GT6K 6 0 GV6K 6 0 You can use the OUT command to turn on off one or more of the digital outputs on the DRIVE I O connector as well as the relay output labeled RELAY COM and RELAY N O on the 4 pin removable connector OUT b b b b b b b Output Pin GT6K GV6K Function OUTFNC default 1 41 OUTFNC1 A General purpose 2 43 OUTFNC2 A General purpose 3 45 OUTFNC3 A General purpose 4 46 OUTFNC4 A General p...

Page 217: ...1 Turn on outputs 1 2 OUT 2 0 Turn off output 2 1OUT 9 1 Turn on output 9 the 1st I O point on SIM2 on I O brick 1 OUT Output Status Type Assignment or Comparison Syntax See below Units n a Range b 0 off 1 on or X don t change Default 0 Response n a See Also OUTALL OUTEN OUTFNC OUTLVL TIO TOUT VARB Product Rev GT6K 6 0 GV6K 6 0 Use the OUT operator to assign the output states to a binary variable ...

Page 218: ...d Relay OUTLVL1 OUT0 Sinking closed 0 ON The output is active when it is commanded by the OUT OUTP or POUT command for example OUTxx1 activates output 3 Example VARB1 OUT Output status assigned to binary variable 1 VARB2 OUT 4 On board output bit 4 assigned to binary variable 2 VARB2 Response if bit 4 is set to 1 VARB2 XXX1_XXX IF OUT b110X1 If the output status contains 1 s for outputs 1 2 5 and ...

Page 219: ...ut function d X don t change Default E Response OUTEN OUTENEEEE_EEE onboard outputs 1OUTEN 1OUTENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE 1OUTEN 3 E See Also OUT OUTFNC OUTLVL TIO TOUT TSTAT Product Rev GT6K 6 0 GV6K 6 0 Use the OUTEN command to disable any of the outputs from their configured function and set them on or off This command is used for troubleshooting and initial start up testing It a...

Page 220: ...task that executes the OUTFNC command Only function C may be directed to a specific task with the prefix e g 2 OUTFNC3 C assigns onboard output 3 as a program in progress output for task 2 Multiple tasks may share the same output but the output may only be assigned one function Identifier Function Description A General Purpose Output A General Purpose output is a standard output Turn on or off wit...

Page 221: ...on error will not be monitored thus the Position Error output function will not be usable H Output On Position Output activates when the axis is at a specified position servo axes can use encoder position only stepper axes can use commanded position or encoder position depending on the ENCCNT setting for that axis Output On Position function parameters are configured with the OUTPA command Applica...

Page 222: ...n I O Disconnect mode with KIOENØ the Gem6K will not perform the kill The drive will remember the brick configuration volatile memory in effect at the time the disconnection occurred When you reconnect the I O brick the drive checks to see if anything changed SIM by SIM from the state when it was disconnected If an existing SIM slot is changed different SIM vacant SIM slot or jumper setting the dr...

Page 223: ...osition Time milliseconds the output is to stay active The output activates when the specified position r is reached or exceeded and stays active for the specified time If this field is set to zero the output will stay active for as long as the actual distance equals or exceeds the position comparison distance this is possible only for an absolute position comparison A Turn on output 1 based on po...

Page 224: ...at becomes active on a TW command and then turns off on completion of the TW command This output can signal a device that a TW command is pending A zero in this field will not activate any output Field 4 i Strobe Time This field identifies the length of time an output will stay active in order to read the BCD digits The strobe time in milliseconds should be greater than the PLC scan time if a PLC ...

Page 225: ...Set OUTTW set 2 as output strobes on onboard outputs 1 3 with onboard output 4 as the output enable bit and strobe time of 50 milliseconds A TW2 Read data into acceleration using INSTW set 2 and OUTTW set 2 as the data configuration PC Position Commanded Type Assignment or Comparison Syntax See below Units n a Range n a Default n a Response n a See Also ERES FB GOWHEN PCC PE PER PSET SCALE SCLD SM...

Page 226: ...the axis has Encoder Capture Mode enabled with the ENCCNT command only the encoder position is captured Position Capture Status Longevity of Captured Position Use the TTRIG and TRIG commands to ascertain if a trigger interrupt input has been activated TTRIG displays the status as a binary report and TRIG is an assignment comparison operator for using the status information in a conditional express...

Page 227: ...tion Capture Status Longevity of Captured Position Use the TTRIG and TRIG commands to ascertain if a trigger interrupt input has been activated TTRIG displays the status as a binary report and TRIG is an assignment comparison operator for using the status information in a conditional expression e g in an IF statement Once the captured encoder position value is assigned compared with the PCE operat...

Page 228: ...ME operator and the TPCME display command Position Capture Status Longevity of Captured Position Use the TTRIG and TRIG commands to ascertain if a trigger interrupt input has been activated TTRIG displays the status as a binary report and TRIG is an assignment comparison operator for using the status information in a conditional expression e g in an IF statement Once the captured master encoder po...

Page 229: ...e The master cycle position can be captured only by an input that is defined as trigger interrupt input with the INFNCi H command see INFNC command When a trigger interrupt input is activated the master cycle position of the axis is captured and the position is available through the use of the PCMS operator and the TPCMS display command Position Capture Status Longevity of Captured Position Use th...

Page 230: ...the compiled profile are stored in compiled memory Compiled Motion segments GOBUF PLOOP GOWHEN TRGFN POUTA PLC Program segments IF ELSE NIF L LN OUT EXE PEXE VARI VARB The TDIR command uses COMPILED AS A PATH to denote the programs compiled as a compiled profile and COMPILED AS A PLC PROGRAM to denote the programs compiled as a PLC programs TDIR also reports the amount of program storage available...

Page 231: ... FB GOWHEN INFNC PC PCE PER PESET PSET SCALE SCLD SFB TFB TPE Product Rev GT6K 6 0 GV6K 6 0 The PE operator is used to assign one of the encoder register values to a variable or to make a comparison against another value Stepper axes If the ENCCNT1 mode is enabled PE reports the encoder position but in ENCCNT0 mode the factory default setting the PE report represents the commanded position NOTE Wh...

Page 232: ...is assigned to variable 1 IF PER 2000 If the position error is 2000 encoder counts do the IF statement enable output 4 OUTXXX1 Enable onboard output 4 NIF End IF statement PESET Encoder Absolute Position Reference Stepper Axes Type Motion Syntax a_ PESET r Units r units absolute position of encoder Range 999 999 999 99999 Default n a Response n a See Also ENCCNT INFNC PCE PE PMESET PSET SCALE SCLD...

Page 233: ...he program launched by the PEXE command will not interrupt a currently running program nor will it interrupt a WAIT or T command Also if launching a GOBUF profile the PEXE will not interrupt motion already in progress CAUTION Using the SCANP command to run a PLCP program in Scan mode will cause the PLCP program to execute as often as every system update period 2 ms A PEXE command used within a PLC...

Page 234: ...ine the PLCP program DEF PLCPi statement followed by commands from the list below followed by END Only these commands are allowed in a PLCP program IF ELSE and NIF conditional branching see note below for limitations L and LN loops HALT If the PLCP program is executed with SCANP HALT will terminate the current PLCP program and kill the SCANP mode If the PLCP program is executed with PRUN HALT will...

Page 235: ...lable Conditional Expressions Order of Evaluation Because only one level of parenthesis is allowed the order of evaluation of IF conditionals is from left to right Refer to the flowchart for the evaluation logic Conditional expressions in a PLC program use the non scaled integer raw operand values Examples of the raw operand values are NO Evaluate Compound AND Compound OR FALSE YES YES TRUE Get Ne...

Page 236: ...g1 Begin definition of prog1 V1 Set velocity to 1 unit sec D1000 Set distance to 1000 units GOBUF1 Segment of motion sent to buffer PLOOP3 Start loop of the subsequent move profile V10 Set velocity to 10 units sec D25000 Set distance to 25000 units GOBUF1 First segment within loop sent to buffer V2 Set velocity to 2 units sec D1000 Set distance to 1000 units GOBUF1 Second segment of motion within ...

Page 237: ...f scaling is disabled SCALEØ the PMAS value is in counts Syntax VARn PMAS where n is the variable number or PMAS can be used in an expression such as IF PMAS 2345Ø Example refer also to FOLEN example 2 IF PMAS 4 3 If the master has traveled more than 4 3 master user units then do the IF statement OUT 2 b1 Set onboard output 2 to 1 NIF End of IF statement VAR14 PMAS Set VAR14 to the master cycle po...

Page 238: ...ffsets Response should be TPME10000 PMESET Establish Master Encoder Absolute Position Reference Type Motion Syntax a_ PMESET r Units r master encoder counts not scalable Range 999 999 999 99999 Default n a Response n a See Also MEPOL MESND PCME PME PMECLR PSET TPCME TPME Product Rev GT6K 6 0 GV6K 6 0 Use the PMESET command to offset the current absolute position of the master encoder connected to ...

Page 239: ... all subsequent communication commands will affect the COM1 port Example The PORT command can be used to designate EOT parameters for both ports Assume that port COM1 is being used to communicate to the Gem6K drive PORT1 Select COM1 for EOT setup EOT45 49 10 EOT for COM1 is 1 lf TPE Send Transfer Position of Encoder response to COM1 using EOT 45 49 10 PORT2 Select COM2 for EOT setup EOT45 50 10 EO...

Page 240: ... OUTFNC6 A Default output function for onboard output 6 DEF P1 Define program P1 D1000 Set distance to travel GOBUF1 Motion segment POUTA 3 1 Turn on output 3 when the axis travels 1000 counts D2000 New distance commanded GOBUF1 Motion segment POUTA 3 0 When the axis travels 2000 additional counts POUTA 6 1 turn off output 3 and turn on output 6 D1000 New distance commanded GOBUF1 Motion segment P...

Page 241: ...mand has been initiated with PRUN If you use the PRUN command within a program while in COMEXC1 mode it functions as a GO and returns control back to the original program after the embedded program s motion is started control is returned to the first command immediately following the PRUN command If in COMEXCØ mode command processing will not continue until the motion invoking command has complete...

Page 242: ...tered To set an encoder absolute position use the PESET command Servos without scaling The PSET command defines a new absolute position reference If the drive is enabled DRIVE1 the present commanded position is used as the reference point If the drive is disabled DRIVE0 the present feedback device position selected with the SFB command is used as the reference point SERVO AXES The PSET offset valu...

Page 243: ...5Ø Example IF PSHF 4 3 If the follower axis has shifted more than 4 3 user units in the positive direction then do the IF statement OUT 2 b1 Turn on onboard output 2 NIF End of IF statement VAR14 PSHF Set VAR14 to the follower axis s position shift PSLV Current Commanded Position of Follower Axis Type Following Assignment or Comparison Syntax See below Units n a Range n a Default n a Response n a ...

Page 244: ...og1 A50 Set acceleration to 50 V10 Set velocity to 10 D100000 Set D to 100000 GOBUF1 Add multiple GOBUF segment definitions in this portion of the program END End definition of prog1 PCOMP prog1 Compile prog1 PRUN prog1 Execute prog1 RADIAN Radian Enable Type Operators Trigonometric Syntax a_ RADIAN b Units n a Range b 0 Disable 1 Enable or X don t care Default 0 Response RADIAN RADIAN0 See Also A...

Page 245: ...on For stepper axes the distance refers to commanded position 3 Enable the registration function with the RE1 command Registration is performed only when there is a non zero distance specified by the REG command NOTE The registration move is executed using the A AA AD ADA and V values that were in effect when the REG command was entered Registration Move Accuracy see also Registration Move Status ...

Page 246: ... assigned with the ERRORP command This status bit is cleared with the next GO command ER 10 Assignment comparison operator use in a conditional expression e g IF ER 10 b1 TERF Full text description of each status bit see Profile Impossible line item TER Binary report of each status bit bits 1 32 from left to right See bit 10 Trigger Status Bits 1 5 Trigger status bits are set when a registration m...

Page 247: ... as VAR5 1 READ1 or IF READ1 1 Syntax VARx READi where x is the variable number and i is the string variable to be sent out to prompt the user for the numeric information Syntax Command READi where Command is any command that has a separate field e g A AD V D etc and i is the string variable number The number attached to the end of the READ command corresponds to the string variable to be sent out...

Page 248: ... values that were in effect when the REG command was entered To see an example refer to the programming sample in the RE command description RULE OF THUMB To prevent position overshoot make sure the REG distance is greater than 4 ms multiplied by the incoming velocity The registration distance remains set until you change it with a subsequent REG command Registration distances outside the valid ra...

Page 249: ...values above REGLOD5000 Set registration lockout distance to 5000 counts RE1 Enable registration A50 Set acceleration to 50 revs sec sec AD50 Set deceleration to 50 revs sec sec V10 Set velocity to 10 revs sec D50000 Set distance to 50000 counts GO1 Initiate motion END End program definition Registration Profile 0 5000 10000 15000 0 2 4 6 8 10 Registration input occurs prematurely and is ignored P...

Page 250: ...End program definition Registration Profile v t 0 1 2 1st Registration mark occurs 2nd Registration mark occurs The first registration move is pre empted bya second registration input Example Scenario B introducing single shot registration In order to stop the second registration from occurring REGSS can be used DEL REGI2b Delete program in case program already resides in memory DEF REGI2b Begin p...

Page 251: ... or on the number of relational operators allowed within a single UNTIL expression The limiting factor for the UNTIL expression is the command length The total character count for the UNTIL command and expression cannot exceed 80 characters For example if you add all the letters in the UNTIL command and the letters within the expression including the parentheses and excluding the spaces this count...

Page 252: ...files to your PC s hard drive for safe keeping If after executing the RFS command you need to restore the previous configuration or stored programs re download the configuration file and program files to your drive REMEMBER You must reset the drive to invoke new configuration settings RUN Begin Executing a Program Type Program or Subroutine Definition Syntax a_ RUN t Units t text name of program R...

Page 253: ...on profile cannot be resumed All commands in the Gem6K s command buffer are discarded Program execution is terminated and cannot be resumed COMEXS1 Using the COMEXS1 mode the Gem6K allows more flexibility in responding to stop conditions depending on the stop method see table below Stop Method What Stops Motion Program Resume Motion Profile Allow resume with a C command or a resume input Resume Pr...

Page 254: ... For example VARB1 SC 3 assigns drive status bit 3 to binary variable 1 VARB1 XX0X_XXXX_XXXX_XXXX_XXXX_XXXX_XXX_XXXX The function of each drive status bit is shown below Bit Function 1 Yes Ø No 1 RESERVED 2 RESERVED 3 A PLC program is being executed in Scan Mode SCANP 4 RESERVED 5 RESERVED 6 RESERVED 7 RESERVED 8 32 RESERVED SCALE Enable Disable Scale Factors Type Scaling Syntax a_ SCALE b Units n...

Page 255: ...am file containing the uploaded program from the drive This assures correct scaling when the program file is later downloaded Units of Measure without Scaling Scaling is disabled SCALEØ as the factory default condition Stepper axes All distance values entered are in commanded counts sometimes referred to as motor steps and all acceleration deceleration and velocity values entered are internally mu...

Page 256: ...date Period To ascertain the scan time required to execute 30 segments use TSCAN or SCAN update If that next statement is VARI1 1PE which executes 2 segments then VARI1 1PE will complete its operations before pausing the scan To check how much time in 2 ms increments the last scan took to complete issue the TSCAN command or use the SCAN operator For example if the last PLCP program took 3 system u...

Page 257: ...inary bit for output 2 only to ON NIF IF IN 3 b1 If Input 3 is ON turn Output 3 ON VARB1 VARB1 b001000 Set binary bit for output 3 only to ON NIF IF IN 4 b1 If Input 4 is ON turn Output 4 ON VARB1 VARB1 b000100 Set binary bit for output 4 only to ON NIF IF IN 5 b1 If Input 5 is ON turn Output 5 ON VARB1 VARB1 b000010 Set binary bit for output 5 only to ON NIF IF IN 6 b1 If Input 6 is ON turn Outpu...

Page 258: ... drive resolution DRES value to obtain accel and decel values in commanded counts sec sec for the motion trajectory calculations Servo axes If scaling is enabled SCALE1 the entered accel and decel values are internally multiplied by the acceleration scaling factor SCLA to convert user units sec sec to encoder counts sec sec If scaling is disabled SCALEØ all accel and decel values are entered in en...

Page 259: ...er had a 25000 step revolution drive and wanted distance units in terms of revolutions then SCLD should be set to 25000 and scaling should be enabled SCALE1 As the distance scaling factor SCLD changes the resolution of all distance commands and the number of positions to the right of the decimal point also change see table below A distance value with greater resolution than allowed will be truncat...

Page 260: ...MD1 9999 command would be truncated to FOLMD1 999 SCLMAS counts unit Master Resolution units Master Range units Decimal Places 1 9 1 0 999 999 999 0 10 99 0 1 0 0 99 999 999 9 1 100 999 0 01 0 00 9 999 999 99 2 1000 9999 0 001 0 000 999 999 999 3 10000 99999 0 0001 0 0000 99 999 9999 4 100000 999999 0 00001 0 00000 9999 99999 5 FRACTIONAL STEP TRUNCATION If you are specifying master distance value...

Page 261: ... are internally multiplied by the drive resolution DRES value to obtain velocity values in commanded counts sec for the motion trajectory calculations Servos If scaling is enabled SCALE1 the entered velocity values are internally multiplied by SCLV to convert user units sec to encoder counts sec If scaling is disabled SCALEØ all velocity values are entered in encoder revs sec encoder values are in...

Page 262: ...expression such as IF SEG 1 SFB Select Servo Feedback Source Type Drive Configuration Syntax a_ SFB i Units i feedback source identifier Range i 1 encoder or 4 resolver Default 1 Response SFB SFB1 See Also ERES SRSET TPE Product Rev GT6K n a GV6K 6 0 applicable only to servo axes AUTO SETUP This command is automatically set according to the Parker motor selected with the configuration utility in M...

Page 263: ...lowing error during the acceleration and deceleration part of a move profile This assumes that the drive or motor are not being current limited the values for inertia are accurate and the models used for analysis are correct You can adjust the value of SGAF from zero to as high as 5 times or 500 SGAF500 of the theoretical value For example SGAF200 sets the acceleration feedforward to 200 of theore...

Page 264: ...or 2 enable only at end of move Default 1 enabled Response SGINTE SGINTE1 See Also LDAMP SGPRAT SGVRAT TGAIN TSGSET Product Rev GT6K n a GV6K 6 0 applicable only to servo axes The SGINTE command enables disables the integrator in the velocity and position loops When enabled the default the integrator progressively reduces the velocity error in proportion to how long the error has persisted This he...

Page 265: ...roduce a more stable position loop Lower values provide faster position response but increase position overshoot Working with servo gains Servo tuning process refer to the Hardware Installation Guide or to the Motion Planner help system Check the values of all active gains SGPRAT is one of many servo gains use TGAIN Creating and invoking gain sets see SGSET SGENB TGAIN TSGSET SGPSIG Velocity Posit...

Page 266: ...ad to force mass ratio SGAF acceleration feedforward gain SGINTE integrator enable SGIRAT current damping ratio SGPRAT position loop ratio SGPSIG velocity position bandwidth ratio SGVF velocity feedforward gain SGVRAT velocity damping ratio For help with servo tuning procedures refer to the Hardware Installation Guide or to the Motion Planner help system Example SGVF5 Set the velocity feedforward ...

Page 267: ...etical value SGVRAT Velocity Damping Ratio Type Tuning Syntax a_ SGVRAT r Units r ratio Range 0 500 to 2 000 0 001 Default 1 000 Response SGVRAT SGVRAT 224 See Also LDAMP LJRAT SGIRAT SGPSIG SGPRAT SGSET TGAIN TSGSET Product Rev GT6K n a GV6K 6 0 applicable only to servo axes The SGVRAT command sets the damping ratio Zeta of the velocity loop Higher values produce a more stable velocity loop Lower...

Page 268: ...K 6 0 This operator is used to calculate the sine of a number given in radians or degrees see the RADIAN command If a and b are coordinates of a point on a circle of radius r then the angle of measure θ can be defined by the equation sine a r θ If a value is given in radians and a conversion is needed to degrees use the formula 360 2π radians y x r b a θ sin θ a r cos θ b r tan θ a b The graph on ...

Page 269: ...ay produce a sinusoidally oscillating motion with control of the phase amplitude and center of oscillation The internal sine wave uses the variable count frequency command FVMFRQ to increase or decrease the angle from which the sine is calculated Each count of the count frequency changes the angle by one tenth 0 1 of a degree For example a FVMFRQ value of 3600 would create an angular frequency of ...

Page 270: ...feedback device position TPE Incremental devices will be zeroed The position error is monitored once per system update period CAUTION If the SMPER value is set to zero SMPERØ the position error condition is not monitored allowing the position error to accumulate without causing a fault You can enable ERROR command bit 12 to continually check for the position error condition and when it occurs to b...

Page 271: ...E SFB TSROFF Product Rev GT6K n a GV6K 6 0 applicable only to servo axes AUTO SETUP This command is automatically set according to the Parker motor selected with the configuration utility in Motion Planner see page 6 If you did not use the configuration utility or are not using a Parker Motor this command is set to zero Refer to DMTR for a list of auto configured commands The SRSET value becomes t...

Page 272: ... see LOCK 11 Command Error Occurred bit is cleared when TCMDER is issued 26 Suspended on COM2 see LOCK 12 Break Point Active BP 28 Program Pending see EXE command 13 Pause Active 29 Compiled memory is 75 full 14 Wait Active WAIT 30 Compiled memory is 100 full 15 Monitoring On Condition ONCOND 31 Compile operation failed PCOMP 16 Waiting for Data READ 32 EXE Failed see EXE command Bit 31 failed PCO...

Page 273: ...D program select input INFNC3 B Assign input 3 as a BCD program select input END End program definition STARTP WakeUp Assign program WakeUp as the startup program STARTP CLR Clears the program WakeUp from its assignment as the start up program DEL WakeUp Deletes the program WakeUp and clears the STARTP command no power up program will be executed STEP Single Step Mode Enable Type Program Debug Too...

Page 274: ...ined complete Axis status bit 24 see TASF TAS or AS indicates when the axis is within the zone specified with STRGTD and STRGTV this status bit is usable even if the Target Zone Mode is not enabled STRGTE0 If the load does not settle into the target zone before the timeout period set by STRGTT the Gem6K drive detects an error see TASF TAS or AS bit 25 and TER bit 11 If this error occurs you can pr...

Page 275: ...sponse STRGTT STRGTT1000 See Also AS ER ERROR ERRORP STRGTD STRGTE STRGTV TAS TER TSTLT Product Rev GT6K n a GV6K 6 0 applicable only to servo axes STRGTT sets the maximum time allowed for the load to settle within the defined target zone exceeding this time period will generate an error condition This command is useful only if Target Zone Settling Mode is enabled with the STRGTE command When usin...

Page 276: ... the ERROR command to continually check for this error condition and when it occurs to branch to a programmed response defined in the ERRORP program Refer to the ERRORP command description for an example of using an error program For more information on target zone operation refer to the Programmer s Guide Example see STRGTE SWAP Task Swap Assignment Type Assignment or Comparison Multi Tasking Syn...

Page 277: ...Although you can enter time delays that are not multiples of 2 ms the time delay will be rounded up to the next multiple of 2 ms For example T 005 produces a 6 ms time delay VARI variables may be substituted for the T command value e g T VARI5 Example T5 Wait 5 seconds before executing TPE command TPE Transfer position of encoder to the terminal TACC Transfer Commanded Acceleration Type Transfer S...

Page 278: ...ansfer Analog Input Voltage Type Transfer Syntax a_ B TANI i Units B I O brick i location on I O brick Range i 1 32 Default n a Response 1TANI 1TANIx x x x x x x x 5 802 4 663 4 972 6 023 2 126 2 223 x x x x x x x x x x x x x x x x 1TANI 10 4 663 See Also ANIRNG ANI FB TFB Product Rev GT6K 6 0 GV6K 6 0 The TANI command returns the voltage level present at the ANI analog inputs The value reported w...

Page 279: ...STRGTT STRGTV TASF TASX TSTAT Product Rev GT6K 6 0 GV6K 6 0 The TAS command returns the current status of the axis FULL TEXT STATUS REPORT AVAILABLE The TAS status command reports a binary bit report If you would like to see a more descriptive text based report use the TASF command description Bit left to right Function 1 Yes Ø No GT6K GV6K To Clear This Bit 1 Motion is commanded CAUTION This bit ...

Page 280: ...h STRGTD STRGTV This bit is set only after the successful completion of a move if STRGTD and STRGTV criteria have been satisfied This bit is usable even if the Target Zone mode is not enabled STRGTE0 X GO1 25 Target Zone Timeout occurred STRGTT X GO1 26 Change in motion is suspended pending GOWHEN YES NO This bit is cleared if the GOWHEN condition is true or if STOP S or KILL K or K is executed X ...

Page 281: ...NEG NO Accelerating NO At Velocity NO Home successful NO Mode Absolute NO Mode Continuous NO Jog Mode NO Joystick Mode NO RESERVED NO Position Maint Mode NO RESERVED for GV6K Stall Detected NO RESERVED for GV6K Drive Shutdown NO Drive Faulted NO POS Hard Limit Hit NO NEG Hard Limit Hit NO POS Sftwr Limit Hit NO NEG Sftwr Limit Hit NO Within Deadband NO RESERVED for GV6K RESERVED NO RESERVED NO RES...

Page 282: ...s and not others The example below demonstrates statements used to execute different WAIT for input conditions depending on the task that is executing the program Example IF TASK 1 Check if this program is operating in task 1 WAIT 1IN 3 B1 If in task 1 wait for input at location 3 on I O brick 1 NIF IF TASK 2 Check if this program is operating in task 2 WAIT 2IN 11 B1 If in task 2 wait for input a...

Page 283: ... power 20 Power Dissipation Circuit has been active not applicable to GV6K U3 GV6K U6 and GV6K U12 drives X X DCLRLR or RESET or cycle power 21 Bad Hall state detected Use THALL for diagnostics X RESET or cycle power 22 Unrecognized hardware consult factory X X RESET or cycle power 23 User Fault input activated INFNCi F X X Deactivate the input 24 Keep Alive active User supplied 24VDC X X 25 Power...

Page 284: ... Failure NO RESERVED for GT6K RESERVED NO Motor Config Error NO RESERVED NO SMVER Exceeded NO RESERVED for GT6K Bridge Fault NO Bridge Temp Fault NO RESERVED for GT6K Over voltage NO RESERVED for GT6K RESERVED NO RESERVED NO RESERVED NO RESERVED NO Drive Stall Detected NO RESERVED for GV6K Override Mode Active NO Bridge in Foldback NO RESERVED for GT6K Power Dissip Active NO Bad Hall State NO RESE...

Page 285: ... are stored and system status bit 11 reported in the TSSF TSS and SS commands is set to 1 The status bit remains set until the TCMDER command is issued Example DEL badprg Delete program called badprg DEF badprg Begin definition of program called badprg MA1 Select the absolute preset positioning mode A25 Set acceleration AD11 Set deceleration V5 Set velocity VAR1 0 Set variable 1 equal to zero GO1 ...

Page 286: ...t 32228 Fault GV6K ERES 4096 during SFB4 Change ERES to 4096 ERES4096 Bit 7 32238 Fault GV6K Internal position loop gains 0 Increase one or all of the following DPBW SGPRAT SGPSIG Recheck DMTKE DMTJ LJRAT DMTD LDAMP Bit 7 32248 Fault GV6K Internal velocity loop gains 0 Increase SGVRAT Recheck DMTKE DMTJ LJRAT DMTD DVBW LDAMP Bit 7 32259 Fault GV6K Internal current loop gains 0 Increase DIBW and or...

Page 287: ...mes the lag frequency DNOTLG The last good value is used 0 disable Lower DNOTLD or turn off Lead Filter DNOTLD 0 Bit 28 TDHRS Transfer Operating Hours Type Transfer Syntax a_ TDHRS Units Lifetime operating hours resolution is or 0 25 hours Range Hour counter rolls over at 16384 00 hours Default n a Response TDHRS TDHRS16 5 See Also RESET TERRLG Product Rev GT6K 6 0 GV6K 6 0 The TDHRS command repor...

Page 288: ...EM TSEG Product Rev GT6K 6 0 GV6K 6 0 TDIR returns the names of all the programs and subroutines defined with the DEF command and the amount of memory each consumes The format of the response is as follows 1 PROG1 USES 345 BYTES 2 PROG2 USES 333 BYTES 14322 OF 15ØØØØ BYTES 98 PROGRAM MEMORY REMAINING 1973 of 1973 SEGMENTS 1ØØ COMPILED MEMORY REMAINING In the above example PROG1 and PROG2 are names...

Page 289: ... Create data program called DATP4 with 200 data elements DATPTR4 20 2 Set the data pointer to data element 20 in DATP4 and set the increment to 2 DATP4 becomes the current active data program TDPTR Response is TDPTR4 20 2 Indicates that the data pointer is pointing to data element 20 in data program 4 DATP4 and the increment setting is 2 TDTEMP Transfer Drive Temperature Type Transfer Syntax a_ TD...

Page 290: ...eft to right Function 1 Yes Ø No GT6K GV6K To Clear This Bit 1 Stall detected Functions when stall detection has been enabled ESTALL or DSTALL and Kill on Stall is enabled ESK1 X GO 2 Hardware end of travel limit hit This condition is detectable only when the limits are enabled LH3 X X LHØ or GO in opposite direction 3 Software end of travel limit hit This condition is detectable only when the lim...

Page 291: ...r checking bit is enabled and the error occurs the Gem6K drive will branch to the error program which is assigned with the ERRORP command For additional details on handling errors refer to the ERROR and ERRORP command descriptions and the Error Handling section in the Programmer s Guide NOTE When error bit 5 Commanded Kill or Stop of the ERROR command is enabled ERROR 5 1 a Stop S or a Kill K or c...

Page 292: ...ased status report This is an alternative to the binary report TER Example TERF response TERF Stall Detected NO Hard Limit Hit NO Soft Limit Hit NO Drive Fault Active NO RESERVED NO Kill Input Active NO User Fault Input NO Stop Input Asserted NO Enable Input Open NO Profile Impossible NO Target Zone Timeout NO Max Position Error NO RESERVED NO GOWHEN cond true NO RESERVED NO Bad command NO RESERVE...

Page 293: ...ve updates the error log bits may still be recorded in TAS or TASX for another 120 milliseconds To find all possible causes of an error event examine TAS and TASX in addition to viewing the error log The CERRLG command erases the stored contents of the error log Clearing the error log is a helpful diagnostic tool it allows you to start the diagnostic process when the error log is in a known state ...

Page 294: ...S0000_0000_0000_0000_0000_0000_0000_0000 bit 1 bit 32 See Also FGADV FMAXA FMAXV FMCLEN FMCP FOLEN FOLMAS FPPEN FS FSHFC FSHFD MC NMCY PMAS TFSF Product Rev GT6K 6 0 GV6K 6 0 The TFS command returns the current Following status The response for TFS is as follows FULL TEXT STATUS REPORT AVAILABLE The TFS status command reports a binary bit report If you would like to see a more descriptive text bas...

Page 295: ...end A master cycle restart is pending the occurrence of the specified trigger 14 Mas Cyc Len Given A non zero master cycle length has been specified with the FMCLEN command 15 Master Cyc Pos Neg The current master cycle position PMAS is negative This could be caused by a negative initial master cycle position FMCP or if the master is moving in the negative direction 16 Master Cyc Num 0 The master ...

Page 296: ...port TFS Example TFSF response TFSF AXIS 1 Follower in Ratio Move NO Ratio is Negative NO Followr Ratio Changing NO Follower At Ratio NO FOLMAS Active NO FOLEN Active NO Master is Moving NO Master Dir Neg NO OK to Shift NO Shifting now NO Shift is Continuous NO Shift Dir is Neg NO Master Cyc Trig Arm NO Mas Cyc Len Given NO Master Cyc Pos Neg NO Master Cyc Num 0 NO Pos Prediction On YES Master Fil...

Page 297: ... to rotor inertia ratio or load to force mass ratio SGAF acceleration feedforward gain SGINTE integrator enable SGIRAT current damping ratio SGPRAT position loop ratio SGPSIG velocity position bandwidth ratio SGVF velocity feedforward gain SGVRAT velocity damping ratio THALL Transfer Hall Sensor Values Type Transfer Syntax a_ THALL Units n a Range 1 6 0 or 7 is a fault condition see TASX bit 21 De...

Page 298: ...and start or 1 stop i 0 999 999 999 Default 0 0 Response TIMINT TIMINT0 0 See Also INTHW TIM TIMST TIMSTP TTIM Product Rev GT6K 6 0 GV6K 6 0 The TIMINT command sets the timer value upon which the Gem6K drive will trigger an Alarm Event The time value at which the alarm event will occur is specified by the second field in the command NOTES To use TIMINT you must first issue the INTHW 21 1 command t...

Page 299: ...he timer is started and allowed to roll over the maximum timer count of 999 999 999 milliseconds 11 days 13 hours 46 minutes 39 999 seconds the timer will be stopped and the value will be frozen at the maximum value Multi Tasking Each task has its own timer Example TIMST0 Reset and start timer GO1 Initiate motion TIMSTP Stop timer TTIM Transfer time required for move TIMSTP Stop Timer Type Timer S...

Page 300: ...nputs on the DRIVE I O connector Active Level Sinking Sourcing Switch IN TIN TIO Report INLVL0 active low Sourcing Closed connected to ground 1 INLVL0 active low Sourcing Open 0 INLVL1 active high Sourcing Closed connected to ground 0 INLVL1 active high Sourcing Open 1 INLVL0 active low Sinking Closed connected to V 0 INLVL0 active low Sinking Open 1 INLVL1 active high Sinking Closed connected to ...

Page 301: ...nd description TINOF Transfer Other Input Status full text report Type Transfer Syntax a_ TINOF Units n a Range n a Default n a Response TINOF see example below See Also INO TINO Product Rev GT6K 6 0 GV6K 6 0 The TINOF command returns a text based status report This is an alternative to the binary report TINO Example response TINOF Enable input OK YES TIO Transfer Current Expansion I O Status Type...

Page 302: ...xample 2 I O bricks are connected to the drive TIO BRICK 1 SIM Type Status Function 1 8 DIGITAL INPUTS 0000_0000 AAAA_AAAA 9 16 DIGITAL INPUTS 0000_0000 AAAA_AAAA 17 24 DIGITAL INPUTS 0000_0000 AAAA_AAAA 25 32 ANALOG INPUTS 0 000 0 000 0 000 0 000 0 000 0 000 0 000 0 000 BRICK 2 SIM Type Status Function 1 8 DIGITAL OUTPUTS 0000_0000 AAAA_AAAA SINKING 9 16 DIGITAL INPUTS 0000_0000 AAAA_AAAA 17 24 N...

Page 303: ...3 T Home limit Input State Relationships Active Level Setting Required Switch Type State LIM TLIM Report Active low LIMLVL0 This is the default setting End of travel limit N C Home limit N O Grounded sinking current device driving the input is on 1 no limit hit Not Grounded not sinking current device driving the input is off 0 FAULT limit hit Active high LIMLVL1 End of travel limit N O Home limit ...

Page 304: ...the current master cycle number The value represents the current cycle number not the position of the master or the follower The master cycle number is set to zero when master cycle counting is restarted and is incremented each time a master cycle finishes i e rollover occurs It will often correspond to the number of complete parts in a production run This value may be used for subsequent decision...

Page 305: ...2 is enabled with the ERROR command Also if this error occurs the Gem6K will branch to the ERRORP program TNTMAC Transfer Ethernet Address Type Transfer Communications Interface Syntax a_ TNTMAC Units n a Range n a Default n a Response TMAC 0 144 85 0 0 1 See Also NTADDR NTFEN NTMASK Product Rev GT6K 6 0 GV6K 6 0 The TNTMAC command reports the Gem6K s Ethernet address TOUT Transfer Output Status T...

Page 306: ...F NPN OUTLVL1 OUT1 No current flow 1 OFF NPN OUTLVL1 OUT0 Sinking current 0 ON PNP sourcing OUTLVL0 OUT1 No current flow 1 OFF PNP OUTLVL0 OUT0 Sourcing current 0 ON PNP OUTLVL1 default OUT1 Sourcing current 1 ON PNP OUTLVL1 default OUT0 No current flow 0 OFF The output is active when it is commanded by the OUT OUTP or POUT command for example OUTxx1 activates output 3 TPC Transfer Position Comman...

Page 307: ...ugh the use of the PCC operator and the TPCC display command GT6K By default the GT6K captures only the commanded position However if the drive has Encoder Capture Mode enabled with the ENCCNT command only the encoder position is captured Position Capture Status Longevity of Captured Position Use the TTRIG and TRIG commands to ascertain if a trigger interrupt input has been activated TTRIG display...

Page 308: ...re the encoder position the axis must be in the Encoder Capture Mode see ENCCNT command Position Capture Status Longevity of Captured Position Use the TTRIG and TRIG commands to ascertain if a trigger interrupt input has been activated TTRIG displays the status as a binary report and TRIG is an assignment comparison operator for using the status information in a conditional expression e g in an IF...

Page 309: ...r position value is displayed with the TPCME command TTRIG TRIG status bit 5 is cleared but the position information remains available until it is overwritten by a subsequent position capture from the master trigger input Position Capture Accuracy The master encoder position capture accuracy is 1 encoder count Scaling and Position Offset The TPCME value is always in master encoder counts it is nev...

Page 310: ...subsequent position capture from the same trigger input Position Capture Accuracy The master cycle position is interpolated the capture accuracy is 50 µs multiplied by the velocity of the axis at the time the trigger input was activated Scaling and Position Offset If scaling is enabled SCALE1 the master cycle position is scaled by the distance scaling factor SCLMAS If scaling is not enabled SCALEØ...

Page 311: ...MAS TPMAS0 See Also FMCLEN FMCNEW FMCP FOLMAS FOLMD FS MEPOL NMCY PMAS SCALE SCLMAS TFS Product Rev GT6K 6 0 GV6K 6 0 The TPMAS command transfers the current position of the master within its current master cycle The master must be assigned first FOLMAS command before this command will be useful TPMAS is unique among position transfers because master cycle position rolls over to zero each time the...

Page 312: ...ied If there is no such program the drive responds with the error message INVALID DATA To see which programs have been created use the TDIR command TPSHF Transfer Net Position Shift Type Following Transfer Syntax a_ TPSHF Units Reported value represents commanded counts scalable by SCLD Range n a Default n a Response TPSHF TPSHF 0 See Also FMCNEW FMCP FOLEN FSHFC FSHFD PSHF SCALE SCLD Product Rev ...

Page 313: ...d enables program trace mode When in program trace mode all commands executed are transferred out the Ethernet RS 232 or RS 485 port and the program from which the command came is identified Example DEL prog1 Delete program prog1 DEF prog1 Begin definition of program prog1 L Begin loop IF IN 3 b1 If input 3 is activated JUMP prog2 Jump to program prog2 ELSE If input 3 is not activated continue wit...

Page 314: ...MINATED TRANS Translation Mode Enable Type Program Debug Tool Syntax a_ TRANS b Units n a Range b 0 disable 1 enable or X don t care Default 0 Response TRANS TRANS0 See Also SS STEP TSS Product Rev GT6K 6 0 GV6K 6 0 The TRANS command enables the program translation mode in which all commands processed by the Gem6K drive are echoed back in their binary format hex representation of the binary equiva...

Page 315: ...perating system part number 6K operating system revision number Drive type Drive power level Feedback device for GV6K only Drive operating system Flash boot revision for hardware identification only Example Response TREV92 016740 01 5 3 25 GEM6K GV6K L3E D0 11 F1 3 Flash Boot Revision Drive OS Revision This is the revision level referred to in the Product Rev field in each command description Feed...

Page 316: ... The input used in this command must first be defined as a Trigger Interrupt input with the INFNCi H command Conditional GO Function TRGFNc1x Suspend execution of the next start motion command until the specified trigger input goes active Start motion commands are GO standard command to begin motion FGADV begin geared advance for Following motion FSHFC begin continuous shift for Following motion F...

Page 317: ...ion of a trigger interrupt input but prevents subsequent bouncing of the input from causing a false position capture registration move or TRGFN event The lockout time affects only those inputs configured as H trigger interrupt with the INFNCi H command during those interrupt actions registration position capture etc The TRGLOT setting overrides the existing INDEB setting for only the inputs that a...

Page 318: ...ndicates the trigger interrupt has occurred a 0 indicates no trigger interrupt TRIG bit assignments for inputs on the DRIVE I O connector bits are numbered 1 5 from left to right TRIGbbbb_b Input Pin GT6K GV6K Function INFNC default 1 37 INFNC1 A General purpose If assigned TRG A must be on Input 1 2 38 INFNC2 A General purpose If assigned TRG B must be on Input 2 3 39 INFNC3 A General purpose 4 3...

Page 319: ... Program Syntax a_ TSCAN Units Response is in increments of 2 milliseconds Range 2 ms unlimited Default n a Response TSCAN TSCAN4 4 ms corresponds to 2 system updates See Also EXE PLCP SCANP Product Rev GT6K 6 0 GV6K 6 0 The TSCAN command reports the duration it takes the last PLCP program to be scanned completely A compiled PLCP program is launched into Scan mode using the SCANP command During ea...

Page 320: ...ch filter A depth DNOTAF notch filter A frequency DNOTAQ notch filter A quality factor DNOTBD notch filter B depth DNOTBF notch filter B frequency DNOTBQ notch filter A quality factor DNOTLD notch lead filter break frequency DNOTLG notch lag filter break frequency DPBW position loop bandwidth LDAMP load damping LJRAT load to rotor inertia ratio or load to force mass ratio SGAF acceleration feedfor...

Page 321: ...t is each task executes one turn and then swaps control to the next active task A turn is the execution of a command or a portion of a complex command such as those for math and trig operators For example if Task2 issued a TSKTRN6 command while the other tasks stayed at TSKTRN1 Task2 would execute 6 commands or portions of long commands before relinquishing control to another task The TSKTRN value...

Page 322: ...tion 1 yes Ø no BIT Left to Right Function 1 yes Ø no 1 System Ready powered up and ready to receive commands 17 Loading Thumbwheel Data TW 2 Reserved 18 External Program Select Mode is enabled INSELP1 3 Executing a Program see EXE 19 Dwell in Progress T command 4 Immediate Command set if last command was immediate 20 Waiting for RP240 Data DREAD or DREADF 5 In ASCII Mode 21 RP240 Connected curren...

Page 323: ...tatus report This is an alternative to the binary report TSS MULTI TASKING If you are using multi tasking be aware that each task has its own system status register Therefore to check a specific task s system status you must prefix the TSSF command with the task identifier e g 2 TSSF to check system status for Task 2 If no task identifier is given the TSSF response is for the task supervisor Task ...

Page 324: ...0 I O Status Onboard limit inputs Hardware state TLIM 110 Expansion I O bricks See TIO response Axis Status see TASF for full text report Axis 1 1TAS 0010_0000_0000_1000_0000_0001_0000_0000 System Status This is Task 0 if using multi tasking 5 Programs Defined Scale Enable 0 System Status 1000_1100_0000_0000_0000_0100_0000_0000 TSTLT Transfer Settling Time Type Transfer Syntax a_ TSTLT Units Repor...

Page 325: ...3 checks the status of Task 3 only The Task Supervisor represented by task Ø is always active and is therefore not included in the SWAP and TSWAP status TTASK Transfer Task Number Type Transfer Syntax TTASK Units Reported value is the number of the controlling task Range 0 10 Default n a Response TTASK TTASK2 Task 2 executed the TTASK command See Also TASK Product Rev GT6K 6 0 GV6K 6 0 Use the TTA...

Page 326: ...curred a 0 indicates no trigger interrupt TTRIGbbbb_b Input Pin GT6K GV6K Function INFNC default 1 37 INFNC1 A General purpose If assigned TRG A must be on Input 1 2 38 INFNC2 A General purpose If assigned TRG B must be on Input 2 3 39 INFNC3 A General purpose 4 34 INFNC4 A General purpose 5 35 INFNC5 A General purpose If assigned MASTER TRIGGER must be on Input 5 Example COMEXC1 Continuous comman...

Page 327: ...atus word are defined with the INDUST command Each bit can correspond to an axis status bit a system status bit or an input Example INDUSE1 Enable user status INDUST1 5A User status bit 1 defined as axis status bit 5 INDUST2 3A User status bit 2 defined as axis status bit 3 3INDUST3 5J User status bit 3 defined as input 5 on I O brick 3 2 INDUST16 2I User status bit 16 defined as system status bit...

Page 328: ...DMONAV DMONBV DMVLIM SCALE SCLV SFB TVEL V VEL VELA Product Rev GT6K 6 0 GV6K 6 0 For servos the TVELA command reports the velocity as derived from the feedback device The sign determines the direction of motion Rotary Motors Positive values represent clockwise motion and negative values represent counter clockwise motion assuming you connected the feedback device according to instructions in the ...

Page 329: ...0 The TW command executed from within another command reads data from a parallel device and loads it into the command field the TW command is occupying Rule of Thumb for command value substitutions If the command syntax shows that the command field requires a real number denoted by r or and integer value denoted by i you can use the TW substitution e g V TW The value of the TW command designates w...

Page 330: ...is no limit on the number of logical operators or on the number of relational operators allowed within a single UNTIL expression The limiting factor for the UNTIL expression is the command length The total character count for the UNTIL command and expression cannot exceed 80 characters For example if you add all the letters in the UNTIL command and the letters within the expression including the p...

Page 331: ...y Type Motion Syntax a_ V r Units r units sec linear motors see DMEPIT for linear rotary conversion Range Stepper Axes 0 0000 60 0000 after conversion to revs sec Servo Axes 0 0000 200 0000 after conversion to revs sec if ERES 10 000 maximum 2 000 000 ERES Default 1 0000 Response V V1 0000 See Also DMEPIT GO MC SCALE SCLV TSTAT TVEL TVELA V VEL VELA VF Product Rev GT6K 6 0 GV6K 6 0 The Velocity V ...

Page 332: ...assign the current programmed velocity to a variable Syntax VARn V where n is the variable number or V can be used in an expression such as IF V 25 The V value used in any comparison or in any assignment statement is the programmed V value If the actual velocity information is required refer to the VEL or VELA command UNITS OF MEASURE and SCALING refer to page 16 Example IF V 25 If the programmed ...

Page 333: ...indirection is possible e g VAR VAR VARn is not a legal command The example below shows how indirect variables are used to clear 50 variables from 1 to 50 Example VAR51 1 Set Variable 51 to 1 REPEAT Begin repeat until loop VAR VAR51 0 Clear variables e g if VAR51 8 then VAR VAR51 0 is equivalent to VAR8 0 VAR51 VAR51 1 Increment counter UNTIL VAR51 51 End repeat until loop VARB Binary Variable Ass...

Page 334: ...ar Type Variable Syntax a_ VARCLR Units n a Range n a Default n a Response n a See Also DVAR DVARI DVARB VAR VARB VARI VARS Product Rev GT6K 6 0 GV6K 6 0 VARCLR resets all numeric variables VAR integer variables VARI binary variables VARB and string variables VARS to their factory default values Numeric VAR variables are set to 0 0 Integer VARI variables are set to 0 Binary VARB variables are set ...

Page 335: ...I1 2 3 Set Variable 1 to 6 D VARI2 Set the distance value equal to integer variable 2 Indirect Variables Integer variables can be used indirectly Only one level of indirection is possible e g VARI VARI VARIn is not a legal command The example below shows how indirect variables are used to clear 50 variables from 1 to 50 Example VARI51 1 Set Integer Variable 51 to 1 REPEAT Begin repeat until loop V...

Page 336: ...rator Mathematical Syntax See below Units n a Range n a Default n a Response n a See Also VAR VARB VARI Product Rev GT6K 6 0 GV6K 6 0 Using VCVT operator you can convert numeric VAR or VARI values to binary VARB values and vice versa The operation is a signed operation as the binary value is interpreted as a two s complement number with the least significant bit LSB on the left and the most signif...

Page 337: ...mpare the current commanded velocity to another value or variable or to assign the current commanded velocity to a variable The velocity value used in any comparison or in any assignment statement is the current commanded velocity value not the programmed velocity V or the actual velocity as measured from the feedback device VELA Syntax VARn VEL where n is the variable number or VEL can be used in...

Page 338: ... by DRES if in ENCCNT0 mode GV6K Servos If scaling is enabled SCALE1 the velocity value will be scaled by the velocity scaling factor SCLV If scaling is not enabled SCALEØ the value returned will be in encoder revs sec or resolver revs sec Example IF VELA 25 If the current velocity is less than 25 units sec then do the statements between IF and NIF VAR1 V 2 Variable 1 programmed velocity times 2 N...

Page 339: ...ge Up to 80 characters including parentheses Default n a Response n a See Also FMCLEN FMCNEW FMCP GOWHEN IF NWHILE REPEAT SS T TSS UNTIL WHILE Product Rev GT6K 6 0 GV6K 6 0 The WAIT command is used to wait for a specific expression to evaluate true No commands except for immediate commands a command preceded with after the WAIT command will be processed until the expression contained within the pa...

Page 340: ... GOTO between WHILE and NWHILE Branching to a different location within the same program will cause the next WHILE statement encountered to be nested within the previous WHILE statement unless a NWHILE command has already been encountered The JUMP command should be used in this situation All logical operators AND OR NOT and all relational operators can be used within the WHILE expression There is ...

Page 341: ...slash character followed by the control character s ASCII decimal equivalent Multiple control characters can be sent For example to set the message equal to HI MOM cr use the command WRITE HI MOM 13 where 13 corresponds to the carriage return character Common characters and their ASCII equivalent values are listed below Character Description ASCII Decimal Value lf Line Feed 10 cr Carriage Return 1...

Page 342: ...to transfer a specific binary variable VARB to the Ethernet port and the RS 232C or RS 485 ports Only the binary value and the EOT command characters are transmitted Example VARB1 b1101 Set binary variable 1 to 1101 WRVARB1 Transmit binary variable 1 value transmitted 1101_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX_XXXX WRVARI Write an Integer Variable Type Communication Interface Syntax a_ WRVARI i i Units 1s...

Page 343: ...ing variable 1 string JOHN L is transmitted XONOFF Enable Disable XON XOFF Type Communication Interface Syntax a_ XONOFF b Units b enable bit Range 0 disable or 1 enable Default 1 for COM1 0 for COM2 PORT command setting determines which COM port s XONOFF setting is checked Response XONOFF XONOFF1 See Also BOT DRPCHK E EOT ERRBAD ERROK LOCK PORT Product Rev GT6K 6 0 GV6K 6 0 Use the XONOFF command...

Page 344: ...www comoso com ...

Page 345: ... Input Voltage Range ANO Set Analog Output Voltage Value ANO Analog Output Voltage Value operator AS Axis Status operator ASX Axis Status Extended operator ATAN Arc Tangent operator BAUD Baud Rate BOT Beginning of Transmission Characters BP Set a Program Break Point BREAK Terminate Program Execution C Continue Command Execution CERRLG Clear Error Log COMEXC Continuous Command Processing Mode COMEX...

Page 346: ... Waveform DWRITE Write Text to RP240 E Enable Serial Communication ECHO Enable Communication Echo ELSE Else Condition of IF Statement ENCCNT Encoder Count Reference Enable END End Definition of Program EOL End of Line Termination Characters EOT End of Transmission Characters ER Error Status operator ERASE Erase All Programs ERES Encoder Resolution ERRBAD Error Prompt Characters ERRDEF Program Defi...

Page 347: ...aster Encoder Step Direction Mode MOV Axis Moving Status operator NIF End IF Statement NMCY Master Cycle Number Status operator NOT Not operator NTADDR Set IP Address NTCONN Network Connect NTFEN Ethernet Communication Enable NTID Network Sharing Unit ID for Peer to Peer NTIO Network I O Configuration NTIP Network IP Address NTMASK Ethernet Network Mask NTMPRB Network Map Binary Variables for Read...

Page 348: ...s TASF Transfer Axis Status full text report TASK Task Number Assignment operator TASX Transfer Axis Status Extended TASXF Transfer Axis Status Extended full text TCMDER Transfer Command Error TCS Transfer Configuration Status TDHRS Transfer Operating Hours TDICNT Transfer Continuous Current Rating TDIMAX Transfer Maximum Current Rating TDIR Transfer Program Directory TDPTR Transfer Data Pointer S...

Page 349: ...f REPEAT Statement US User Status operator V Velocity V Velocity operator VAR Numeric Variable Assignment VARB Binary Variable Assignment VARCLR Clear All Variables VARI Integer Variable Assignment VARS String Variable Assignment VARSHI Shared Input Variable for Peer to Peer VARSHO Shared Output Variable for Peer to Peer VCVT Variable Type Conversion VEL Commanded Velocity Assignment operator VELA...

Page 350: ...www comoso com ...

Page 351: ...43 2B 44 2C 45 2D 46 2E 47 2F 48 30 49 31 1 50 32 2 51 33 3 52 34 4 53 35 5 54 36 6 55 37 7 56 38 8 57 39 9 58 3A 59 3B 60 3C 61 3D 62 3E 63 3F 64 40 65 41 A 66 42 B 67 43 C 68 44 D 69 45 E 70 46 F 71 47 G 72 48 H 73 49 I 74 4A J 75 4B K 76 4C L 77 4D M 78 4E N 79 4F O 80 50 P 81 51 Q 82 52 R 83 53 S 84 54 T 85 55 U 86 56 V 87 57 W 88 58 X 89 59 Y 90 5A Z 91 5B 92 5C 93 5D 94 5E 95 5F _ 96 60 97 6...

Page 352: ...169 A9 170 AA 171 AB 1 2 172 AC 1 4 173 AD 174 AE 175 AF 176 B0 177 B1 178 B2 179 B3 180 B4 181 B5 182 B6 183 B7 184 B8 185 B9 186 BA 187 BB 188 BC 189 BD 190 BE 191 BF 192 C0 193 C1 194 C2 195 C3 196 C4 197 C5 198 C6 199 C7 200 C8 201 C9 202 CA 203 CB 204 CC 205 CD 206 CE 207 CF 208 D0 209 D1 210 D2 211 D3 212 D4 213 D5 214 D6 215 D7 216 D8 217 D9 218 DA 219 DB 220 DC 221 DD 222 DE 223 DF 224 E0 ...

Page 353: ...wing master ANIMAS 52 check input voltage 301 enable ANIEN 51 override ANIEN 51 voltage status 51 301 325 voltage range section ANIRNG 52 application examples continuous phase shift 153 Following 143 GOWHEN 160 preset phase shift 155 scaling setup 24 arc tangent 58 264 ASCII character designator 32 ASCII Table 379 assignment of axis to tasks 346 assignment of master and follower 146 auto current s...

Page 354: ...iling a profile or program PCOMP 249 conditional branching ELSE 119 IF 172 NIF 225 NWHILE 228 REPEAT 271 UNTIL 356 WHILE 368 conditional go 160 configuration using a setup program 296 wizard in Motion Planner 8 configuration error motor 97 status 310 configuration wizard Motion Planner 8 continue C 59 61 67 205 continuous command execution mode COMEXC 63 continuous current derating motor 91 contin...

Page 355: ...function assignment LIMFNC 211 simulate activation 210 soft limit decel 216 decleration LSAD 217 decleration s curve 217 range negative direction 218 range positive direction 218 status 209 303 327 enter interactive data 31 epitch 84 erase all programs ERASE 124 error clearing 131 error checking enable ERROR 129 error detection level ERRLVL 127 error log clear CERRLG 62 display contents TERRLG 317...

Page 356: ... 225 ELSE 119 immediate commands 28 immediate data read from RP240 111 immediate stop 67 274 in position 189 inclusive or 39 incremental positioning mode MAØ 219 effect on distance 68 indirect variables 359 inductance motor 92 maximum 95 minimum 95 initial master cycle position 142 inputs 11 analog See ANI joystick See joystick joystick INFNC functions 180 joystick LIMFNC functions 212 limits end ...

Page 357: ...r acceleration 140 maximum follower velocity 140 memory after a drive reset DRESET 113 after a reset 271 allocation 222 data statement teach mode 222 labels 29 locking 181 213 return to factory settings 272 status usage 327 messages display on RP240 DWRITE 117 error 14 sending 32 motion parameters 156 Motion Planner 7 drive configuration 8 drive operating system update 10 installation 7 quick tour...

Page 358: ...ining PLCP 253 execute compiled program from PEXE 252 execute program from EXE 137 initiate scan mode SCANP 276 memory storage 222 time of last scan 345 pointer data location 109 313 reset 74 set 73 polarity end of travel inputs 214 home inputs 214 master encoder input 224 programmable inputs 183 programmable outputs 240 trigger inputs 183 pole pairs motor 108 PORT selecting a COM port 258 positio...

Page 359: ...revision level 341 rollover of master cycle position 256 336 rotor inertia motor 93 round off error square root 294 RP240 COM port setup 114 connection verified 295 connection verified 348 data read 110 data read immediate mode 111 display binary variable DVARB 116 display integer variable DVARI 117 display layout 107 118 display numeric variable DVAR 116 display variable 116 jog mode 83 LEDs 84 p...

Page 360: ...mmable 174 interrupt 356 labels 326 limits 209 214 327 master encoder position captured 247 334 memory 312 327 motor configuration errors 310 moving not moving 224 outputs 234 235 236 330 pause 295 348 position capture 343 352 position error 251 336 program contents 337 program directory 312 program execution 295 317 348 resolver position 335 settling time 350 software revision level 341 system 29...

Page 361: ...175 if interrupt inputs 343 I O bit pattern 11 position capture 180 245 246 247 248 332 334 status 343 352 programmed GOWHEN function 342 restart master cycle counting 342 status 151 319 programmed functions 178 211 registration 180 265 status 174 324 trigger interrupt input registration 268 trigonometric operators 253 264 291 359 troubleshooting See Programmer s Guide axis status 302 axis status ...

Page 362: ...ng temperature max 96 winding thermal resistance motor 98 winding time constant motor 100 wizards setup Motion Planner 8 write 32 369 binary variable 370 integer variable 370 message 369 numeric variable 370 RP240 text 117 string variable 371 X XON XOFF enable disable 371 Z z channel 171 zero absolute position after homing 164 zero master cycle position 142 www comoso com ...

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