Parker Automation Gemini GV6K, Command Reference Manual

Page: 180 / 362

178 Gemini GV6K/GT6K Command Reference
Programming Example
(refer also to the illustration below):
Application Requirements:
This example represents a typical joystick application in which a high-velocity range is required to move to a region,
then a low-velocity range is required for a fine search. After the search is completed it is necessary to record the load
position, then move to the next region. A digital input can be used to indicate that the position should be read. The
Joystick Release input is used to exit the joystick mode and continue with the motion program.
Hardware Configuration:
•
An analog input SIM is installed in the 3rd slot of I/O brick 1. The eight analog inputs (1-8) are addressed as input
numbers 17-24 on the I/O brick. Analog input 17 will control the axis.
•
A digital input SIM is installed in the 1st slot of I/O brick 1. The eight digital inputs (1-8) are addressed as input
numbers 1-8 on the I/O brick. Digital input 6 will be used for the Joystick Release function, and input 7 will be used
for the Joystick Velocity Select input. Input 8 will be used to indicate that the position 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 when the Velocity Select
; input switch (1IN.7) is closed (low)
JOYA100 ; Set joystick accel to 100 units/sec/sec
JOYAD100 ; Set joystick decel to 100 units/sec/sec
;**** COMMANDS TO SET UP USABLE VOLTAGE: **********
1JOYCTR.17=+1.0
; Set center voltage for analog input 17 to+1.0V. The +1.0V value
; was ascertained by checking the voltage of the input (with
; the 1TANI.17 command) when the joystick was at rest
1JOYCDB.17=0.5 ; Set center deadband to compensate for the fact that
; when the joystick is at rest, the voltage received on
; the analog input may flu/- 0.5V on either
; side of the +1.0V center.
1JOYEDB.17=2.0 ; Set end deadband to compensate for the fact that the
; joystick can produce only -8.0V to +8.0V.
;**************************************************
JOY1
; Enable joystick mode
Velocity
(positive direction)
Volts
Velocity
(negative direction)
-10V +10V
JOYVH
or
JOYVL
JOYVH
or
JOYVL
JOYCTR
or
JOYZ
(voltage when joystick is at rest)
JOYCDB
(zero-velocity range)
JOYEDB
JOYEDB
www.comoso.com