Parker GEM6K Series Manual

Effective: October 1, 2001
p/n 88-019934-01 A
G e m ini GV 6 K a nd
G e m ini GT 6 K
P
r og r a mm e r ' s G uid e
A u t o m a t ion
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N o r t h A m e r i ca a nd A s i a :
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
e-mail: [email protected]
Internet: http://www.compumotor.com
E u r op e (non-German speaking) :
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
G e r m a n y , A u s t r i a , S wi t z e r l a nd :
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
T ec hni ca l A ss i s t a n ce
Contact your local automation technology center (ATC) or distributor, o r ...
A u t o m a t ion
E - mail : T ech _ H elp @ cmotor . com
T ech nical S upport
Gem6K Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, or used 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, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 2001 , P a r ke r H a nni f in C o r po r a t ion
A ll R igh t s R ese r ve d
U se r I n f o r m a t ion
W ARN I N G
Gem6K Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
!!
Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of Microsoft Corporation.
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CONTENTS
OVERVIEW.................................................................. I
About This Manual......................................................i
Organization of This Manual...................................i
Programming Examples..........................................ii
Reference Documentation.......................................ii
Assumptions of Technical Experience....................ii
Before You Begin......................................................iii
Install and Use Motion Planner .............................iii
Technical Support......................................................iii
PROGRAMMING FUNDAMENTALS .....................1
Motion Planner Programming Environment...............2
Wizard-Based Programming...................................2
Native Code Programming .....................................3
Command Syntax........................................................4
Introduction ............................................................4
Description of Syntax Letters and Symbols............5
General Guidelines for Syntax................................6
Command Value Substitutions ...............................7
Assignment and Comparison Operators .................7
Programmable Inputs and Outputs Bit Patterns......9
Creating Programs....................................................10
Program Example .................................................10
Storing Programs......................................................11
Memory Allocation...............................................11
Checking Memory Status......................................12
Executing Programs (options) ..................................13
Creating and Executing a Set-up Program................13
Program Security......................................................14
Controlling Execution of Programs and the Command
Buffer........................................................................14
COMEXC (Continuous Command Execution).....14
COMEXL (Save Command Buffer on Limit) ......15
COMEXR (Effect of Pause/Continue Input)........15
COMEXS (Save Command Buffer on Stop)........16
Restricted Commands During Motion......................17
Variables...................................................................18
Converting Between Binary and Numeric Variables
..............................................................................18
Using Numeric (VAR and VARI) Variables..........19
Using Binary Variables.........................................22
Unconditional Looping and Branching.................23
Conditional Looping and Branching.....................25
Program Interrupts (ON Conditions) ........................29
Error Handling..........................................................30
Enabling Error Checking......................................31
Defining the Error Program..................................31
Canceling the Branch to the Error Program..........32
Error Program Set-up Example.............................34
Non-Volatile Memory ..............................................35
System Performance..................................................35
COMMUNICATION..................................................37
Communication Options ...........................................38
Motion Planner Communication Features.................38
Ethernet Networking.................................................39
Overview...............................................................39
Networking Guidelines .........................................42
Configuring the Gem6K for Ethernet
Communication.....................................................43
Networking with Other 6K or Gem6K Products
(Peer-to-Peer)........................................................46
Networking with OPTO22 SNAP I/O...................48
Networking with a DVT Vision System ...............50
Networking with an Allen-Bradley SLC 5/05 PLC
...............................................................................51
Error Conditions....................................................54
Serial Communication...............................................56
Controlling Multiple Serial Ports..........................56
RS-232C Daisy-Chaining......................................57
Daisy-Chaining and RP240s.................................60
RS-485 Multi-Drop...............................................60
BASIC OPERATION SETUP....................................63
Before You Begin .....................................................64
Setup Parameters Discussed in this Chapter .........64
Using a Setup Program..........................................65
Resetting the Controller ........................................65
Memory Allocation...................................................65
Drive Setup ...............................................................66
Drive Stall Detection (stepper only)......................66
Drive Resolution (stepper only)............................66
Disable Drive On Kill (servo only).......................66
Scaling.......................................................................67
Units of Measure without Scaling.........................67
What is Scaling?....................................................67
When Should I Define Scaling Factors? ...............67
Acceleration & Deceleration Scaling (SCLA).......68
Velocity Scaling (SCLV)......Error! Bookmark not
defined.
Distance Scaling (SCLD and SCLMAS)......... Error!
Bookmark not defined.
Positioning Modes.....................................................71
Preset Positioning Mode........................................72
Continuous Positioning Mode...............................73
End-of-Travel Limits ................................................77
Homing (Using the Home Inputs).............................79
Encoder-Based Stepper Operation (stepper only).....84
Encoder Resolution...............................................84
Stall Detection & Kill-on-Stall..............................84
Encoder Set Up Example......................................84
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Encoder Count/Capture Referencing....................85
Tuning Procedures (servos only)..............................85
Entering Load Settings .........................................85
Position Mode Tuning ..............................................85
Position Mode Tuning Procedure......................... 86
Filter Adjustments ....................................................87
Target Zone Mode (move completion criteria for
servos only)...............................................................89
Programmable Inputs and Outputs (onboard and
external inputs & outputs)........................................90
Programmable I/O Bit Patterns............................. 91
Input Functions.....................................................94
Output Functions................................................ 105
Variable Arrays (teaching variable data)................110
Basics of Teach-Data Applications.....................110
Summary of Related Gem6K Series Commands 112
Teach-Data Application Example.......................112
PRODUCT CONTROL OPTIONS ........................115
Safety Features .......................................................116
Options Overview................................................... 116
Stand-Alone Interface Options...........................116
Programmable Logic Controller.........................117
Host Computer Interface ....................................117
Custom Graphical User Interfaces (GUIs).......... 117
Programmable I/O Devices.....................................118
Programmable I/O Functions..............................118
Thumbwheels .....................................................119
PLCs...................................................................119
PLC Scan Mode..................................................120
RP240 Remote Operator Panel............................... 123
Configuration......................................................123
Operator Interface Features ................................124
Using the Default Menus....................................125
Joystick Control, Analog Inputs............................. 130
Joystick Control..................................................130
Analog Input Interface......... Error! Bookmark not
defined.
Host Computer Interface ........................................133
Graphical User Interface (GUI) Development Tools
................................................................................134
CUSTOM PROFILING........................................... 135
S-Curve Profiling.................................................... 136
S-Curve Programming Requirements.................136
Determining the S-Curve Characteristics ........... 136
Programming Example....................................... 137
Calculating Jerk.....Error! Bookmark not defined.
Compiled Motion Profiling.....................................139
Compiled Following Profiles..............................142
Dwells and Direction Changes ........................... 144
Compiled Motion Versus On-The-Fly Motion...145
Related Commands............................................. 146
Compiled Motion — Sample Application 1.......147
Compiled Motion — Sample Application 2.......148
Compiled Motion — Sample Application 3.......151
Compiled Motion — Sample Application 4.......152
On-the-Fly Motion (pre-emptive GOs)....................155
OTF Error Conditions.........................................156
On-The-Fly Motion — Sample Application....... 157
Registration.............................................................159
How to Set up a Registration Move....................159
Registration Move Accuracy (see also Registration
Move Status below).............................................159
Preventing Unwanted Registration Moves
(methods).............................................................160
Registration Move Status & Error Handling.......160
Registration — Sample Application 1 ................161
Registration — Sample Application 2 .......... Error!
Bookmark not defined.
Registration — Sample Application 3 ................163
Synchronizing Motion (GOWHEN and TRGFN
operations)...............................................................163
Conditional “GO”s (GOWHEN)............................163
Trigger Functions (TRGFN) ................................166
FOLLOWING...........................................................167
Ratio Following – Introduction...............................168
What can be a master? ........................................168
Following Status (TFSF, TFS & FS Commands)
............................................................................169
Implementing Ratio Following...............................170
Ratio Following Setup Parameters......................170
Follower vs. Master Move Profiles.....................175
Performing Phase Shifts......................................178
Geared Advance Following.................................180
Summary of Ratio Following Commands...........181
Master Cycle Concept.............................................182
Master Cycle Commands....................................182
Summary of Master Cycle and Wait Commands185
Technical Considerations for Following.................186
Performance Considerations ...............................186
Master Position Prediction..................................187
Master Position Filtering.....................................187
Following Error...................................................188
Maximum Velocity and Acceleration (Stepper
Axes Only)..........................................................189
Factors Affecting Following Accuracy...............189
Preset vs. Continuous Following Moves.............191
Master and Follower Distance Calculations........192
Using Other Features with Following.................194
Troubleshooting for Following (see also Chapter 8)
................................................................................196
Error Messages....................................................197
Following Commands.............................................198
MULTI-TASKING...................................................201
Introduction to Multi-Tasking.................................202
Using Multi-Tasking to Run Programs...............202
Interaction Between Tasks..................................206
Tasks...................................................................208
How a “Kill” Works While Multi-Tasking.........209
Using Gem6K Resources While Multi-Tasking .....210
Associating Axes with Tasks..............................210
Sharing Common Resources Between Multiple
Tasks...................................................................211
Locking Resources to a Specific Task................211
How Multi-tasking and the %Prefix Affect
Commands and Responses..................................211
Input and Output Functions and Multi-tasking ...213
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Multi-Tasking Performance Issues.........................214
When is a Task Active?......................................214
Task Swapping....................................................214
Task Execution Speed.........................................215
TROUBLESHOOTING...........................................217
Troubleshooting Basics...........................................218
Solutions to Common Problems .............................218
Program Debug Tools.............................................221
Status Commands...............................................222
Error Messages ...................................................229
Trace Mode.........................................................232
Single-Step Mode ...............................................234
Break Points........................................................235
Simulating I/O Activation...................................235
Simulating Analog Input Channel Voltages.......237
Motion Planner’s Panel Gallery..........................237
Technical Support...................................................238
Operating System Upgrades ...................................238
Product Return Procedure.......................................238
INDEX .......................................................................239
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OVERVIEW
About This Manual
This manual is designed to help you implement the Gem6K Series Product’s features in your
application. Detailed feature descriptions are provided, including application scenarios and
programming examples. For details on each Gem6K command, refer to the Gem6K Series
Command Reference.
Organization of This Manual
Chapter Information
Chapter 1.
Programming Fundamentals Discussion of essential programming guidelines and standard
programming features such as branching, variables, interrupts, error
handling, etc.
Chapter 2.
Communication Communication considerations, such as using Motion Planner, alert
event handling, communication server and fast status control, RS-232
daisy-chains and RS-485 multi-drops, etc.
Chapter 3.
Basic Operation Setup General operation setup conditions, such as number of axes, scaling
factors, feedback device setup, programmable input and output
functions, end-of-travel limits, homing, etc.
Chapter 4.
Product Control Options Considerations for implementing various product control methods,
such as programmable I/O, a joystick, an RP240, custom GUI, etc.
Chapter 5.
Custom Profiling Descriptions of custom profiling features such as S-Curves, timed
data streaming, compiled profiles, on-the-fly motion profiling,
registration, and synchronized motion.
Chapter 6.
Following Feature descriptions and application examples for using Following
features.
Chapter 7.
Multi-Tasking Feature descriptions and application examples for using multi-tasking
in your application.
Chapter 8.
Troubleshooting Methods for isolating and resolving hardware and software problems.
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ii Gem6K Series Programmer’s Guide
Programming Examples
Programming examples are provided in this document to demonstrate how the Gem6K
product's features may be implemented. These examples are somewhat generalized, due to
the diverse nature of the family of Gem6K Series products and their application;
consequently, some attributes, such as the I/O bit pattern referenced, may differ from those
available with your particular Gem6K product.
Reference Documentation
This document is intended to accompany the printed and online documents listed below, as
part of the Gem6K product user documentation set.
Reference Document Description
INTERNET ACCESS:
These documents are
also available to view
and print from our web
site (www.compumotor.com).
Gem6K Series Hardware Installation Guide Hardware-related information specific to the Gem6K
Series product:
• Product hardware specifications
• Installation instructions
• Troubleshooting procedures
• Servo tuning instructions
Gem6K Series Command Reference Detailed descriptions of all Gem6K Series Programming
Language commands. Quick-reference tables are also
provided.
EVM32 Installation Guide Specifications and installation instructions for the EVM32
expansion I/O.
COM6SRVR Communications The COM6SRVR is a 32-bit OLE automation server for adding
Gem6K communication capability to your custom applications
created with programming languages such as Visual Basic or
Visual C++. This companion document includes descriptions
of all methods and properties, and programming examples.
Motion Planner Online Help Online instructional aids such as:
• Tutorials
• Introduction and tutorial for programming with Wizards
• Context-sensitive help for Wizard-based programming
• Documentation of programmer’s guide
• Step-by-step programming coaches
• Conceptual overviews
• Advanced programming details
• Sample programs
• Documentation of the Gem6K Series command
language,
including all command descriptions and the contents of
the manual you are currently reading
• Documentation of the Communications Server OLE
automation server (facilitates communications between
Gem6K and your custom Windows software)
Assumptions of Technical Experience
To effectively use the information in this manual, you should have a fundamental
understanding of the following:
• Electronics concepts, such as voltage, switches, current, etc.
• Motion control concepts such as motion profiles, torque, velocity, distance, force, etc.
• Programming skills in a high-level language such as C, C++, or BASIC is helpful
• Ethernet communication protocol (if using the Ethernet port)
• If you are new to the Gem6K Series Programming Language, we encourage you to
use the Motion Planner Wizards Editor (version 4.2 or later for Gem6K support).
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Overview iii
Before You Begin
Before you begin to implement the Gem6K controller’s features in your application you
should complete all the installation and test procedures provided in your Gem6K Series
Hardware Installation Guide.
Install and Use Motion Planner
Motion Planner is a Windows-based graphical interface that assists you with programming
and tuning your Gem6K Series controller, as well as setting up your Compumotor drives. The
Motion Planner CD-ROM is provided in your ship kit. The Motion Planner interface allows
you to:
• Create, edit, download, and upload programs.
• Tune your servo system.
• Test & debug programs and controller operation.
Additional details are provided on page 2and in the Motion Planner Help System.
Technical Support
For solutions to your questions about implementing Gem6K product software features, first
look in this manual. Other aspects of the product (command descriptions, hardware specs, I/O
connections, graphical user interfaces, etc.) are discussed in the respective manuals or Online
Help systems listed above in Reference Documentation (see page ii).
If you cannot find the answer in this documentation, contact your local Automation
Technology Center (ATC) or distributor for assistance.
If you need to talk to our in-house application engineers, please contact us at the numbers
listed on the inside cover of this manual. (The phone numbers are also provided when you
issue the HELP command to the Gem6K controller.) NOTE: The BBS contains the latest
software upgrades and late-breaking product documentation.
FAX number for technical support;
bulletin board service,#see BBS;
software, update from BBS;
BBS;
Email support: [e-mail]
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Programming Fundamentals
1
CHAPTER ONE
Programming
Fundamentals
IN THIS CHAPTER
This chapter is a guide to general Gem6K programming tasks. It is divided into these main topics:
•Motion Planner programming environment ......................... 2•Restricted commands during motion ............................17
•Command syntax.................................................................. 4•Using Variables ............................................................18
•Creating programs................................................................ 10 •Program flow control....................................................23
•Storing programs.................................................................. 10 •Program interrupts........................................................29
•Executing programs ............................................................. 13 •Error handling...............................................................30
•Creating and executing a set-up program............................. 13 •Non-volatile memory....................................................35
•Program Security.................................................................. 14 •System performance considerations..............................35
•Controlling execution – programs & command buffer......... 14
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2Gem6K Series Programmer’s Guide
Motion Planner Programming Environment
Every Gem6K Series controller is shipped with Motion Planner, a free Windows-based
programming tool designed to simplify your programming efforts. The Motion Planner CD-
ROM is provided in your ship kit. Updates may be downloaded, free of charge, from the
compumotor.com web site.
Motion Planner supports two programming paradigms: Wizard-based programming, and Native
Code programming (working directly with the Gem6K programming language).
Wizard-Based Programming
Motion Planner includes the Wizard Editor, which is intended to be your primary program
development environment for the Gem6K. (version 4.2 or later)
The Wizard Editor makes programming easy, eliminates the need to learn the programming
language and frees you from concerning yourself with syntax errors.
•A Start Wizard guides you through creating your program structure and configuring your
Gem6K (drives, feedback, I/O, servo tuning, etc.).
•Additional wizards guide you through all other programming tasks, such as creating
motion profiles, I/O handling, error handling, program logic and branching, adding sub-
programs, etc.
NOTE: All programming features that can be implemented with native code (in a text-
based Program Editor) can also be accomplished in the Wizard Editor.
•The Tag Name Dictionary allows you to label variables, axes, and I/O so that you can
program in terms that are relevant to your machine.
•If you have existing programs in an Editor, you can easily include them into the Wizard
editor (using the Native Code wizard), so you don’t have to rewrite your code.
•The Wizard Editor also includes interactive debug tools (break points, trace mode) and a
status window to help you test and debug your application.
•Context-sensitive help is always available – just click the Help button or press the F1 key.
How to get started:
1. Install Motion Planner.
2. Launch Motion Planner and select your Gem6K product. Motion Planner opens a new
Wizard Editor file.
3. When prompted to see an introduction and tutorial, click Yes. This will help you
understand the basic features of the Wizard Editor and the programming process.
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Chapter 1. Programming Fundamentals 3
Native Code Programming
As an alternative to using the Wizard Editor, you may program directly with the Gem6K
Command Language (“Native Code”). Motion Planner has several tools to help you:
ACCESSING THE TOOLS: These tools are exposed when you first launch Motion
Planner.
•Program Editor: This is your primary interface for programming with the Gem6K
Command Language.
•Terminal Emulator: This is your primary communications interface to send commands
directly to the Gem6K.
•Servo Tuner: This graphical tuning utility helps you visually tune your servo axes. Then
you can copy the resulting gains into your program in the Program Editor. NOTE: Before
attempting motion, be sure to tune your axes. Tuning guidelines are provide on page
•Motion Panel: This feature allows definition of quick command buttons and other useful
debugging and functional tools to assist in programming your Gem6K.
•Online Help: While you are programming in Motion Planner’s Editor, Terminal or Servo
Tuner, you have immediate access to all command descriptions (the contents of the
Gem6K Series Command Reference, as well as the contents to this Programmer’s Guide).
To access the command descriptions, click on the Help menu and select Contents; from
there you can browse the “Gem6K Command Language” or you can search for the
command or a topic in the Index tab.
The rest of the contents in this manual are directed toward the native code programmer. If you
are new to the Gem6K Series Programming Language, be sure to read Chapter 1 (Programming
Fundamentals) thoroughly. Then proceed to the relevant chapters for the features you need for
your programs.
NOTE: If you later decide to use the Wizards Editor, you can copy code from the Program
Editor and paste it into Native Code objects in the Wizard program tree.
TIP: For complex programming tasks, like setup programming, error programming, Following
profile development, etc., you can use the relevant wizard in the Wizards Editor, then copy the
generated code from the Code Viewer and paste it into a Program Editor file.
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4Gem6K Series Programmer’s Guide
Command Syntax
Introduction The Gem6K programming language accommodates a wide range of needs by providing basic
motion control building blocks, as well as sophisticated motion and program flow constructs.
The language comprises simple ASCII mnemonic commands, with each command separated
by a command delimiter (carriage return, colon, or line feed). The command delimiter signals
the Gem6K product that a command is ready for processing.
Upon receiving a command followed by a command delimiter, the Gem6K controller places
the command in its internal command buffer, or queue. Here the command is executed in the
order in which it is received. To make the command execute immediately, place an
exclamation point (!) in front of it (e.g., The TAS command will be executed after all
commands ahead of it in the command buffer are executed; but !TAS will execute before any
other commands in the command buffer).
Spaces and tabs within a command are processed as neutral characters. Comments can be
specified with the semicolon (;) character — all characters following the semicolon and
before the command delimiter are considered program comments.
Some commands contain one or more data fields in which you enter numeric or binary values
or text:
•Numeric data fields. For example, A20,10 is an acceleration (A) command that sets the
acceleration to 20 units/sec2.
•Binary fields. For example, DRIVE1 is a drive enable (DRIVE) command that enables
the drive.
•Text fields. For example, STARTPpowrup is a startup program assignment (STARTP)
command that assigns the program called “powrup” as the startup program to be
executed automatically when the Gem6K product is power up or reset.
•To check what the data field settings are for a particular command, simply type in the
command without the data fields. The Gem6K will display the command settings. For
example, after executing the A20, noted above, you could type in the Acommand by
itself and the Gem6K controller would respond with A20.
Some commands contain no data fields:
•Status Commands. For example, TASF responds by displaying a list of status conditions
for each axis.
•Reset
; *********************************************************
; This is a program that executes a trapezoidal motion
; profile on axes 1 and 2
; *********************************************************
DEL motion ; (a precaution) Delete program called "motion"
DEF motion ; Begin definition of program called "motion"
DRIVE1 ; Enable drives
MC0 ; Set position mode to preset
A20 ; Set accel to 20 units/sec/sec
V8 ; Set velocity to 8 units/sec
D100000 ; Set distance to 100,000 counts
GO ; Execute motion
END ; End definition of program called "motion"
DEL motion
Text field
Command name
DRIVE 1
Binary data field
Command name
; *********************************************************
; This is a program that executes a trapezoidal motion
; profile on axes 1 and 2
; *********************************************************
DEL motion ; (a precaution) Delete program called
"motion"
DEF motion ; Begin definition of program called "motion"
DRIVE1 ; Enable drive
MC0 ; Set position mode to preset
A20 ; Set accel to 20 units/sec/sec
V8 ; Set velocity to 8 units/sec
D100000 ; Set distance to 100,000 counts
; Execute motion on axes 1 and 2
END ; End definition of program called "motion"
Sample program, as viewed in an editor:
These are command line comments, comprising a semi-colon and text.
The comments are separated from the command by a tab.
A carriage return is placed at the end of each command line.
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Chapter 1. Programming Fundamentals 5
Description of Syntax Letters and Symbols
The command descriptions provided within the Gem6K Series Command Reference use alphabetic letters and ASCII
symbols within the Syntax description to represent different parameter requirements (see INEN example below).
INEN Input Enable
Type Inputs; Program Debug Tools
Syntax <!><B>INEN<d><d><d>...<d>
Units d = Ø, 1, E, or X
Range Ø = off, 1 = on, E = enable, X = don't change
Default E
Response INEN: *INENEEEE_EEEE_EEEE_EEEE_E
See Also [ IN ], INFNC, INLVL, INPLC, INSTW, TIN, TIO
Product Rev
Gem6K 5.0
Letter/Symbol Description
a..........Represents an axis specifier.
B..........Represents the number of the product's I/O brick. External I/O bricks are represented by numbers 1 through n (to connect
external I/O bricks, refer to your product's Installation Guide). On-board I/O are address at brick location zero (Ø). If the
brick identifier is omitted from the command, the controller assumes the command is supposed to affect the onboard I/O.
b*.........Represents the values 1, 0, Xor x; does not require field separator between values.
c..........Represents a character (Ato Z, or ato z)
d..........Represents the values 1, 0, Xor x, Eor e; does not require field separator between values. Eor eenables a specific
command field. Xor xleaves the specific command field unchanged or ignored. In the ANIEN command, the “d” symbol
may also represent a real numeric value.
i..........Represents a numeric value that 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
character.
!..........Represents an immediate command. Changes a buffered command to an immediate command. Immediate commands
are processed immediately, even before previously entered buffered commands.
%..........(Multitasking Only) Represents a task identifier. To address the command to a specific task, prefix the command with “i%”,
where “i” is the task number. For example, the 4%CUT command uses task #4 to execute the program called “CUT”.
,..........(comma) Represents a field separator. Commands with the symbol ror iin their Syntax description require field
separators. Commands with the symbol bor din their Syntax description do not require field separators (but they may be
included). See General Guidelines table below.
@..........Represents a global specifier, where only one field need be entered. Applicable to all commands with multiple command
fields.
< > ......Indicates that the item contained within the < > is optional, not required by that command.
NOTE: Do not confuse with <cr>, <sp>, and <lf>, which refer to the ASCII characters corresponding to a carriage
return, space, and line feed, respectively.
[ ] ......Indicates that the command between the [ ] must be used in conjunction with another command, and cannot be used
by itself.
* The ASCII character bcan also be used within a command to precede a binary number. When the bis used in this context, it is not to be
replaced with a 0, 1, X, or x. Examples are assignments such as VARB1=b10001, and comparisons such as IF(3IN=b1001X1).
Order of Precedence for Command Prefix Characters (from left to right):
1s
t
: Immediate
2nd: Task number
3rd: Apply to all axes or I/O bricks
3rd: Axis number
3rd: I/O brick number
<!><%><@><a><B>
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6Gem6K Series Programmer’s Guide
General Guidelines for Syntax
Guideline Topic Guideline Examples
Neutral Characters
•Space (<sp>)
•Tab (<tab>)
Using neutral characters anywhere within a
command will not affect the command.
(In the examples on the right, a space is
represented by <sp>, a tab is <tab>), and a
carriage return is <cr>)
Set velocity to 10 rps:
V<sp>10 <cr>
Add a comment to the command:
V 10 <tab> ;set velocity <cr>
Command Delimiters:
•Carriage rtn (<cr>)
•Line feed (<lf>)
•Colon (:)
All commands must be separated by a
command delimiter. A carriage return is the
most commonly used delimiter. To use a line
in a live terminal emulator session, press
ctrl/J. The colon (:) delimiter allows you to
place multiple commands on one line of code,
but only if you add it in the program editor (not
during a live terminal emulator session).
Set acceleration to 10 rev/sec/sec:
A 10<cr>
A 10<lf>
A 10: V 25: D 25000: GO<cr>
Case Sensitivity There is no case sensitivity. Use upper or
lower case letters within commands. Initiate motion
GO
go
Comment Delimiter (;) All text between a comment delimiter and a
command delimiter is considered program
comments.
Add a comment to the command:
V10<tab> ;set velocity
Field Separator (,) Commands with the symbol ror iin their
Syntax description require field separators. INSGLP EXAMPLE
Global Command
Identifier (@) When you wish to set the command value equal on all axes, add the @symbol at the
beginning of the command (enter only the
value for one command field).
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
one or more binary bits without having to enter
all the preceding bits in the command.
Syntax for setup commands:
[command name].[bit #]-[binary value]
Syntax for conditional expressions:
[command name].[bit #]=[binary value]
Enable error-checking bit #9:
ERROR.9-1
Enable error-check bits #9-12:
ERROR.9-1,1,1,1
IF statement based on value of axis status bit #12:
IF(AS.12=b1)
Left-to-right Math
All mathematical operations assume
left-to-right precedence.
VAR1=5+3*2
Result: Variable 1 is assigned the value of
16 (8*2), not 11 (5+6).
Binary and hexadecimal
values When making assignments with or comparisons against binary or hexadecimal
values, you must precede the binary value
with the letter “b” or “B”, and the hex value
with “h” or “H”. In the binary syntax, an “x”
simply means the status of that bit is ignored.
Binary: IF(IN=b1x01)
Hexadecimal: IF(IN=h7F)
Multi-tasking Task
Identifier (%) Use the %command prefix to identify the
command with a specific task. Launch the “move1” program in Task 1:
1%move1
Check the error status for Task 3:
3%TER
Check the system status for Task 3:
3%TSS
NOTE: The command line is limited to 100 characters (excluding spaces).
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Chapter 1. Programming Fundamentals 7
Command Value Substitutions
Many commands can substitute one or more of its command field values with one of these
substitution items (demonstrated in the programming example below):
VAR..........Places current value of the numeric variable in the corresponding command field.
VARB .......Uses the value of the binary variable to establish all the command fields.
VARI .......Places current value of the integer variable in the corresponding command field.
READ .......Information is requested at the time the command is executed.
DREAD.....Reads the RP240's numeric keypad into the corresponding command field.
DREADF...Reads the RP240's function keypad into the corresponding command field.
TW............Places the current value set on the thumbwheels in the corresponding command field.
DAT..........Places the current value of the data program (DATP) in the corresponding command field.
Programming Example: (NOTE: The substitution item must be enclosed in parentheses.)
VAR1=15 ; Set variable 1 to 15
A5,(VAR1),4,4 ; Set acceleration to 5,15,4,4 for axes 1-4, respectively
VARB1=b1101XX1 ; Set binary variable 1 to 1101XX1 (bits 5 & 6 not affected)
GO(VARB1) ; Initiate motion on axes 1, 2 & 4 (value of binary
; variable 1 makes it equivalent to the GO1101 command)
OUT(VARB1) ; Turn on outputs 1, 2, 4, and 7
VARS1="Enter Velocity" ; Set string variable 1 to the message "Enter Velocity"
V2,(READ1) ; Set the velocity to 2 on axis 1. Read in the velocity for
; axis 2, output variable string 1 as the prompting message
; 1. Operator sees "ENTER VELOCITY" displayed on the screen.
; 2. Operator enters velocity prefixed by !' (e.g., !'20).
HOMV2,1,(TW1) ; Set homing velocity to 2 and 1 on axes 1 and 2, respectively.
; Read in the home velocity for axis 3 from thumbwheel set 1
HOMV2,1,(DAT1) ; Set homing velocity to 2 and 1 on axes 1 and 2, respectively.
; Read home velocity for axis 3 from data program 1.
VARI1=2*3 ; Set integer variable 1 to 6 (2 multiplied by 3)
D(VARI2),,(VARI3) ; Set the distance of axis 1 equal to the value of
; integer variable 2, and the distance of axis 3 equal to
; the value of integer variable 3.
RULE OF THUMB
Not all of the commands allow command field substitutions. In general, commands with a
binary command field (<b> in the command syntax) will accept the VARB substitution.
Commands with a real or integer command field (<r> or <i> in the command syntax) will
accept VAR, VARI, READ, DREAD, DREADF, TW or DAT.
Assignment and Comparison Operators
Comparison and assignment operators are used in command arguments for various functions
such as variable assignments, conditional branches, wait statements, conditional GOs, etc.
Some examples are listed below:
• Assign to numeric variable #6 the value of the encoder position on axis #3 (uses the PE
operator): VAR6=3PE
• Wait until onboard inputs #3 & #6 become active (uses the IN operator):
WAIT(IN=bxx1xx1)
• Continue until the value of numeric variable #2 is less than 36: UNTIL(VAR2<36)
• IF condition based on if a target zone timeout occurs on axis 2 (uses the AS axis status
operator, where status bit #25 is set if a target zone timeout occurs): IF(2AS.25=b1)
The available comparison and assignment operators are listed below. For full descriptions,
refer to their respective descriptions in the Gem6K Series Command Reference
(be sure to refer only to the commands in brackets—e.g., Ais the acceleration setup
command, but [A]is the acceleration assignment/comparison operator).
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8Gem6K Series Programmer’s Guide
* denotes operators that
have a correlated status
display command.
(e.g., To see a full-text
description of each axis
status bit accessed with
the AS operator, send
the TASF command to
the Gem6K controller.)
See page 222.
A...................Acceleration
AD.................Deceleration
ANI ..............Voltage at the analog inputs on an expansion I/O brick (see page 91 for bit patterns) *
ANO ..............Voltage at the analog outputs on an expansion I/O brick (see page 91 for bit patterns) *
AS.................Axis status *
ASX ..............Extended axis status (additional axis status items) *
D...................Distance
DAC ..............Digital-to-analog converter (output voltage) value *
DAT ..............Data program number
DKEY............Value of RP240 Key
DPTR............Data pointer location *
DREAD .........Data from the numeric keypad on the RP240
DREADF.......Data from the function keypad on the RP240
ER.................Error status *
FB.................Position of current selected feedback sources *
FS.................Following status *
IN.................Input status (input bit patterns provided on page 91) *
INO ..............“Other” input status (ENABLE input reported with bit #6) *
LIM ..............Limit status (end-of-travel limits and home limits) *
MOV ..............Axis moving status
NMCY............Current master cycle number *
OUT ..............Output status (output bit patterns provided on page 91) *
PANI............Position of analog input, at 205 counts/volts unless otherwise scaled (servo axes) *
PC.................Commanded position *
PCC ..............Captured commanded position *
PCE ..............Captured encoder position *
PCME............Captured master encoder position *
PCMS............Captured master cycle position *
PER ..............Position error (servo axes only) *
PME ..............Current master encoder position *
PMAS............Current master cycle position *
PE.................Position of encoder *
PSHF............Net position shift since constant Following ratio *
PSLV............Current commanded position of the slave axis *
READ............Read a numeric value to a numeric variable (VAR)
SC.................Controller status *
SCAN............Runtime of the last scanned PLC program *
SEG ..............Number of segments available in Compiled Profile memory *
SS.................System status *
SWAP............Current active status of tasks *
TASK............Number of the controlling task *
TIM ..............Timer value *
TRIG............Trigger interrupt status *
TW.................Thumbwheel data read
US.................User status *
V...................Velocity (programmed)
VAR ..............Numeric variable substitution
VARI............Integer variable substitution
VARB............Binary variable substitution
VEL ..............Velocity (commanded by the controller) *
VELA............Velocity (actual, as measured by a position feedback device) *
VMAS............Current velocity of the master axis *
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Chapter 1. Programming Fundamentals 9
Bit Select Operator
The bit select operator (.) makes it easier to base a command argument on the condition of one
specific status bit. For example, if you wish to base an IF statement on the condition that a
user fault input is activated (error status bit #7 is a binary status bit that is “1” if a user fault
occurred and “Ø” if it has not occurred), you could use this command: IF(ER=bxxxxxx1).
Using a bit select operator, you could instead use this command: IF(ER.7=b1).
Side Note: You can use a bit select operator to set a particular status bit (e.g., to turn on onboard
programmable output #5, you would type the OUT.5-1 command; to enable error-checking bit
#4 to check for drive faults, you would type the ERROR.4-1 command). .You can also check
specific status bits (e.g., to check axis 2’s axis status bit #25 to see if a target zone timeout
occurred, type the 2TAS.25 command and observe the response).
Binary and Hex
Values When making assignments with or comparisons against binary or hexadecimal values, you must
precede the binary value with the letter “b” or “B”, and the hex value with “h” or “H”.
Examples: IF(IN=b1xØ1) and IF(IN=h7F). In the binary syntax, an “x” simply means
the status of that bit is ignored. Refer also to Using Binary Variables (page 19).
Related Operator
Symbols Command arguments include special operator symbols (e.g., +, /, &, ', >=, etc.) to perform
bitwise, mathematical, relational, logical, and other special functions. These operators are
described in detail, along with programming examples, at the beginning of the Command
Descriptions section of the Gem6K Series Command Reference.
Programmable Inputs and Outputs Bit Patterns
I/O pin outs,
specifications, and
circuit drawings are
provided in each
Gem6K Series
Hardware Installation
Guide.
The Gem6K product has programmable inputs and outputs. The total number of onboard inputs
and outputs (trigger inputs, limit inputs, digital outputs) depends on the product. The total
number of expansion inputs and outputs (analog inputs, digital inputs and digital outputs)
depends on your configuration of expansion I/O bricks connected to the “EXPANSION I/O”
connector.
These programmable I/O are represented by binary bit patterns, and it is the bit pattern that you
reference when programming and checking the status of specific inputs and outputs. The bit
pattern is referenced in commands like WAIT(IN.4=b1), which means wait until onboard
programmable input #4 (TRG-2B) becomes active. To ascertain your product’s I/O offering
and bit patterns, refer to Chapter 3 (page 91).
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10 Gem6K Series Programmer’s Guide
Creating Programs
Debugging Programs:
Refer to page 221 for
methods to isolate and
resolve programming
problems.
Reminder:
The Motion Planner Wizards interface makes programming easy, eliminates the need to
learn the programming language and frees you from concerning yourself with syntax errors.
A Start Wizard guides you through creating your program structure and configuring your
Gem6K (drives, feedback, I/O, servo tuning, etc.). Additional wizards guide you through all
other programming tasks, such as creating motion profiles, I/O handling, error handling,
program logic and branching, etc. The Tag Name Dictionary allows you to label variables,
axes, I/O so that you can program in terms that are relevant to your machine. If you have
existing programs in an Editor, you can easily include them into the Wizard editor, so you
don’t have to rewrite your code. For additional details about the Wizards programming
interface, refer to page 2.
A program is a series of commands. These commands are executed in the order in which they
are programmed. Immediate commands (commands that begin with an exclamation point [!])
cannot be stored in a program. Only buffered commands may be used in a program. Refer to
the program example below.
A subroutine is defined the same as a program, but it is executed with an unconditional branch
command, such as GOSUB, GOTO, or JUMP, from another program (see page 23 for details
about unconditional branching). Subroutines can be nested up to 16 levels deep. NOTE: The
Gem6K family does not support recursive calling of subroutines.
Compiled profiles & PLC programs are defined like programs, using the DEF and END
commands, but are compiled with the PCOMP command and executed with the PRUN
command (PLC programs are usually launched in PLC Scan Mode with the SCANP
command). Compiled profiles and PLC programs also affect a different part of the product's
memory, called compiled memory. A compiled profile is an individual axis profile (a series of
GOBUF commands). A compiled PLC program is a pre-compiled program that mimics PLC
functionality by scanning through the I/O faster than in normal program execution. For
information on compiled profiles, refer to page 139; and for information on PLC programs,
refer to page 120.
Program Example
The illustration below identifies the elements that comprise the general structure of a program.
Use DEF to
begin
defining the
program.
Contents of the
program.
Use DEL to
delete the
program (a
precaution).
Use END to
finish defining
the program.
; *********************************************************
; This is a program that executes a trapezoidal motion
; profile on axes 1 and 2
; *********************************************************
DEL motion ; (a precaution) Delete program called "motion"
DEF motion ; Begin definition of program called "motion"
DRIVE1 ; Enable drives on axes 1 and 2
MC0 ; Set position mode to preset
A20 ; Set accel to 20 units/sec/sec
V8 ; Set velocity to 8 units/sec, and
D100000 ; Set distance to 100,000 counts on axis 1, and
GO ; Execute motion
END ; End definition of program called "motion"
These are command line comments, comprising a semi-colon and text.
The comments are separated from the command by a tab.
A carriage return is placed at the end of each command line.
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