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Parker Automation Gemini GV6K, Command Reference Manual

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Parker Automation Gemini GV6K Command Reference Manual Download Page 17

 

 

Introduction 

15

 

S-Curve Acceleration/Deceleration Profiling 

The Gem6K allows you to perform 

S-curve

 move profiles, in addition to the usual trapezoidal profiles.  

S-curve profiling provides smoother motion control by reducing the 

jerk

 (rate of change) in acceleration 

and deceleration portions of the move profile (see drawing below). Because S-curve profiling reduces jerk, 
it improves position tracking performance, especially in linear interpolation applications.  

Decel

Accel

Time

Decel

V

elocity

Time

Trapezoidal

Accel

Time

V

elocity

Time

S-Curve

Maximum Jerk

Less Jerk

 

S-Curve Programming Requirements 

To program an S-curve profile, you must use the 

average accel/decel

 commands provided in the Gem6K 

programming language.  For every maximum accel/decel command (e.g., 

A

, 

AD

, 

HOMA

, 

HOMAD

, 

JOGA

, 

JOGAD

, etc.) there is an 

average

 command for S-curve profiling (see table below). 

Maximum Accel/Decel Commands: 

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 Acceleration 

  JOYAA 

Average Joystick Acceleration 

JOYAD 

Joystick Deceleration 

  JOYADA 

Average Joystick Deceleration 

LHAD 

Hard Limit Deceleration 

  LHADA 

Average Hard Limit Deceleration 

LSAD 

Soft Limit Deceleration 

  LSADA 

Average Soft Limit Deceleration 

Determining the S-Curve Characteristics 

The command values for average accel/decel (

AA

, 

ADA

, etc.) and maximum accel/decel (

A

, 

AD

, etc.) determine 

the characteristics of the S-curve.  To smooth the accel/decel ramps, you must enter average accel/decel 
command values that satisfy the equation   ½

 A  

≤

  AA  

<

  A  

,  where  

A 

represents maximum accel/decel and 

AA 

represents average accel/decel.  Given this requirement, the following conditions are possible: 

www.comoso.com

Summary of Contents for Gemini GV6K

Page 1: ...E 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...

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 ha...

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...

Page 4: ...n 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 h...

Page 5: ...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 hav...

Page 6: ...ol 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 checkin...

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 bit...

Page 8: ...sic 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 Communi...

Page 9: ...re 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 C...

Page 10: ...xpansion 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 S...

Page 11: ...o 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...

Page 12: ...board 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 Ex...

Page 13: ...RAM 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 tunin...

Page 14: ...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 9...

Page 15: ...D 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 compil...

Page 16: ...and 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...

Page 17: ...nds 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 Acc...

Page 18: ...tion 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 o...

Page 19: ...V 2 JA A 2 A t1 t 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 Starti...

Page 20: ...oaded 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...

Page 21: ...ing 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 Encod...

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...

Page 23: ...st 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...

Page 24: ...www comoso com...

Page 25: ...he 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 r...

Page 26: ...mmands 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...

Page 27: ...ng 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...

Page 28: ...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...

Page 29: ...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 n...

Page 30: ...le 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 equiv...

Page 31: ...t 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 Whe...

Page 32: ...nge 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...

Page 33: ...pression 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 op...

Page 34: ...e 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...

Page 35: ...perator 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 VA...

Page 36: ...ill 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_XX...

Page 37: ...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...

Page 38: ...00_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...

Page 39: ...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...

Page 40: ...www comoso com...

Page 41: ...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 wh...

Page 42: ...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 m...

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 acce...

Page 44: ...n 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 ind...

Page 45: ...the commands below and then connect them in a multi drop 1 Connect the unit that is to be unit 1 and transmit the _ADDR1 command to it 2 Connect the unit that is to be unit 2 and transmit the _ADDR2 c...

Page 46: ...sent 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...

Page 47: ...ases 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 inpu...

Page 48: ...ard 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 Co...

Page 49: ...mparison 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...

Page 50: ...X X 2 Negative positive direction 1 negative 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 th...

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 b11 1 or IF AS h7F If it is desired to a...

Page 52: ...r 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 TH...

Page 53: ...N command To convert radians to degrees use the formula 360 2 radians y x r b a sin a r cos b r tan a b Syntax VARi ATAN r where i is the variable number and r is a real number value Parentheses must...

Page 54: ...es 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 R...

Page 55: ...ve 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...

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...

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 curre...

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 COMEXL then every command i...

Page 59: ...am 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...

Page 60: ...r see illustration at right If a value is given in radians and a conversion is needed to degrees or vice versa use the formula 360 2 radians y x r b a sin a r cos b r tan a b The graph to the right sh...

Page 61: ...essage 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...

Page 62: ...ariable 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...

Page 63: ...ping 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...

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 Se...

Page 65: ...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...

Page 66: ...ata 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...

Page 67: ...program has a tabular 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...

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 var...

Page 69: ...ARNING 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 Ty...

Page 70: ...e 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 th...

Page 71: ...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 pro...

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 bel...

Page 73: ...s 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 longe...

Page 74: ...T 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 GT...

Page 75: ...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 val...

Page 76: ...e 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 Assignme...

Page 77: ...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...

Page 78: ...city Accel Decel e g V A AD DMEPIT 1000 1000 DMEPIT DMTD motor damping DMTJ motor forcer mass LDAMP load damping 2 1000 2 DMEPIT 2 DMEPIT 2 2 1000 2 DMTLIM force limit DMTSCL force scaling 2 1000 DMEP...

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 vel...

Page 80: ...lue 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...

Page 81: ...malized 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 Actu...

Page 82: ...c 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...

Page 83: ...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 therm...

Page 84: ...wered 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 op...

Page 85: ...red 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 dri...

Page 86: ...MTR 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 acc...

Page 87: ...TIP 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...

Page 88: ...ed 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 appl...

Page 89: ...tor 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 Un...

Page 90: ...ant 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...

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 driv...

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 DMTST...

Page 93: ...rface 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 DMTTC...

Page 94: ...ed 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 req...

Page 95: ...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 ph...

Page 96: ...ter 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 i...

Page 97: ...plicable 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 gain...

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...

Page 99: ...ware 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 D...

Page 100: ...PCUR 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...

Page 101: ...Response 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 Thi...

Page 102: ...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 no...

Page 103: ...teger 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 use...

Page 104: ...a 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...

Page 105: ...3 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 mess...

Page 106: ...munication 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 com...

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...

Page 108: ...ive 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...

Page 109: ...imal 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 variabl...

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...

Page 111: ...nication 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...

Page 112: ...s 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...

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...

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 St...

Page 115: ...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 Mult...

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 c...

Page 117: ...esolution post quad is 1 m 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 ERES...

Page 118: ...arriage 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...

Page 119: ...e 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 chara...

Page 120: ...en 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...

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...

Page 122: ...imum 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 w...

Page 123: ...VED 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 Tex...

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...

Page 125: ...gic 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 ta...

Page 126: ...er 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 back...

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 re...

Page 128: ...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 spec...

Page 129: ...tion 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 sta...

Page 130: ...FSF 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 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 G...

Page 132: ...tor 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...

Page 133: ...r 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 Se...

Page 134: ...o 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 F...

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 Se...

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...

Page 137: ...king 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 ma...

Page 138: ...ster 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 r...

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 an...

Page 140: ...ys 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 allowa...

Page 141: ...MAS 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 Ne...

Page 142: ...e 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 F...

Page 143: ...meters 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 follow...

Page 144: ...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 mast...

Page 145: ...ount 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 Produ...

Page 146: ...ion 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 res...

Page 147: ...rwise the end velocity will be equal to the goal velocity V of the previous segment Ending velocity of a GOBUF segment Preset Positioning Mode MC A preset motion segment starts at the previous motion...

Page 148: ...ered 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 subrouti...

Page 149: ...nd 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 dista...

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 G...

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 veloc...

Page 152: ...e 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...

Page 153: ...nd 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 th...

Page 154: ...s 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 HO...

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...

Page 156: ...ult 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...

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...

Page 158: ...ed 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 en...

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 paren...

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...

Page 161: ...ession such as IF 2IN b11 1 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...

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...

Page 163: ...s 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 F...

Page 164: ...lot 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...

Page 165: ...te 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...

Page 166: ...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 m...

Page 167: ...r 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...

Page 168: ...e 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...

Page 169: ...h 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 connecte...

Page 170: ...y 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 Funct...

Page 171: ...0 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 ac...

Page 172: ...put 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 a...

Page 173: ...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 IN...

Page 174: ...rnally 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 t...

Page 175: ...oes not stop and wait for the jog mode to be disabled JOG Instead the jog inputs are enabled and command processing continues with the first command after the JOG1 command WARNING If a jog input is ac...

Page 176: ...een 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 Syn...

Page 177: ...eleration JOGAD command has been entered the jog acceleration JOGA command no longer affects jog deceleration If JOGAD is set to zero JOGAD then the jog deceleration will once again track whatever the...

Page 178: ...ue 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...

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...

Page 180: ...n 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...

Page 181: ...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...

Page 182: ...e the joystick deceleration JOYAD command has been entered the joystick acceleration JOYA command no longer affects joystick deceleration If JOYAD is set to zero JOYAD then the joystick deceleration w...

Page 183: ...YAXH 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 wit...

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 Res...

Page 185: ...k 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...

Page 186: ...ubroutines 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 inva...

Page 187: ...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...

Page 188: ...ld 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 perfo...

Page 189: ...ause 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 flas...

Page 190: ...ive 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 t...

Page 191: ...pon 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 l...

Page 192: ...front of the value The hexadecimal value itself must only contain the letters A through F or the numbers through 9 LIM does not depict the status of onboard inputs or external digital inputs assigned...

Page 193: ...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 t...

Page 194: ...ate 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...

Page 195: ...se 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 ala...

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 LIM...

Page 197: ...d 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 sw...

Page 198: ...countered 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 Reso...

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 P...

Page 200: ...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 Ref...

Page 201: ...9 999 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 a...

Page 202: ...f 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 comm...

Page 203: ...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...

Page 204: ...rofile 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...

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 prog...

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...

Page 207: ...n 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...

Page 208: ...g 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...

Page 209: ...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 Ethern...

Page 210: ...t 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 Ser...

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 conditio...

Page 212: ...rick 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...

Page 213: ...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 ena...

Page 214: ...et 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_ ONVAR...

Page 215: ...T6K 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 p...

Page 216: ...ev 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 r...

Page 217: ...11 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...

Page 218: ...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 bina...

Page 219: ...t 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...

Page 220: ...ask 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 tas...

Page 221: ...n 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 posit...

Page 222: ...n I O Disconnect mode with KIOEN 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...

Page 223: ...sition 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...

Page 224: ...that 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 F...

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...

Page 226: ...he 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 ascerta...

Page 227: ...ion 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...

Page 228: ...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 displa...

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 mast...

Page 230: ...he 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...

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 ag...

Page 232: ...s 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 Positi...

Page 233: ...e 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 alr...

Page 234: ...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 fo...

Page 235: ...able 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 evalua...

Page 236: ...1 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...

Page 237: ...If scaling is disabled SCALE 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 2345 Example refer also to FOLEN example 2...

Page 238: ...fsets 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...

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 th...

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 Ne...

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...

Page 242: ...ered 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 po...

Page 243: ...5 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...

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 Compi...

Page 245: ...n 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 R...

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...

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 Com...

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 RE...

Page 249: ...alues 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...

Page 250: ...nd 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...

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...

Page 252: ...iles 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...

Page 253: ...n 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 flexibil...

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 No 1 RESERV...

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 SCALE as the factory...

Page 256: ...ate 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...

Page 257: ...nary 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 VARB...

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 valu...

Page 259: ...ser 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 change...

Page 260: ...D1 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...

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 v...

Page 262: ...xpression 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...

Page 263: ...owing 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 f...

Page 264: ...r 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 enable...

Page 265: ...oduce 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 o...

Page 266: ...d 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 feedfor...

Page 267: ...tical 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 SGS...

Page 268: ...GT6K 6 0 GV6K 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 angl...

Page 269: ...y 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 decreas...

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 SMPER the position error conditi...

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 Pl...

Page 272: ...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...

Page 273: ...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 f...

Page 274: ...ned 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 STR...

Page 275: ...ponse 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...

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 exam...

Page 277: ...lthough 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 subst...

Page 278: ...nalog 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...

Page 279: ...GTE 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 rep...

Page 280: ...RGTD 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 GO...

Page 281: ...EG 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...

Page 282: ...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 progra...

Page 283: ...ower 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...

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...

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 D...

Page 286: ...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 LJ...

Page 287: ...es 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 opera...

Page 288: ...TMEM 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...

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 Res...

Page 290: ...left to right Function 1 Yes 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 t...

Page 291: ...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 an...

Page 292: ...sed 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 N...

Page 293: ...e 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 T...

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 t...

Page 295: ...nd 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 cu...

Page 296: ...ort 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...

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 bandwidt...

Page 298: ...d 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...

Page 299: ...e 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...

Page 300: ...puts 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 Sour...

Page 301: ...d 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 G...

Page 302: ...ample 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_AA...

Page 303: ...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 si...

Page 304: ...he 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 restart...

Page 305: ...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...

Page 306: ...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 c...

Page 307: ...gh 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...

Page 308: ...e 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...

Page 309: ...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...

Page 310: ...subsequent position capture from the same trigger input Position Capture Accuracy The master cycle position is interpolated the capture accuracy is 50 s multiplied by the velocity of the axis at the t...

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...

Page 312: ...ed 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 Tran...

Page 313: ...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 DE...

Page 314: ...INATED 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 GT6...

Page 315: ...erating 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 Ex...

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 th...

Page 317: ...tion 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 config...

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...

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 Re...

Page 320: ...h 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...

Page 321: ...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 exam...

Page 322: ...tion 1 yes no BIT Left to Right Function 1 yes 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...

Page 323: ...atus 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...

Page 324: ...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 Stat...

Page 325: ...3 checks the status of Task 3 only The Task Supervisor represented by task is always active and is therefore not included in the SWAP and TSWAP status TTASK Transfer Task Number Type Transfer Syntax T...

Page 326: ...urred 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 assi...

Page 327: ...tus 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 ax...

Page 328: ...MONAV 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...

Page 329: ...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...

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...

Page 331: ...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 conver...

Page 332: ...ssign 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 assignme...

Page 333: ...of 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 REPE...

Page 334: ...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...

Page 335: ...1 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...

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...

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...

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 SCALE the value returned will be in...

Page 339: ...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 w...

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 NWHIL...

Page 341: ...lash 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 wh...

Page 342: ...o 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 vari...

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...

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...

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...

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 Ethe...

Page 348: ...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 Tran...

Page 349: ...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 VAR...

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

Page 351: ...3 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...

Page 352: ...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...

Page 353: ...ng 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 GO...

Page 354: ...ling 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...

Page 355: ...unction 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 ent...

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 MA 219 effect on distance 68 indirect variable...

Page 357: ...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 setting...

Page 358: ...ing 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 pol...

Page 359: ...evision 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 11...

Page 360: ...mable 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...

Page 361: ...75 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 fun...

Page 362: ...g 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 variab...

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