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Step 4 – Verifying Correct System Installation
Commanding Motion in Autorun Mode
Commanding Motion Under Program Control
18
Gemini GT6 Hardware Installation Guide
In this procedure you will enable the drive; the motor will then rotate in autorun
mode. This will verify correct system wiring and drive configuration.
1.
Connect a jumper wire between Pin 1 and Pin 2 on the 50 pin DRIVE I/O connector.
(For connector diagrams, cable color codes, and breakout module information see
Appendix A Specifications .)
2.
Issue the following command to the drive:
DRIVE1
(enables the drive)
3.
Verify that the drive is enabled. (Left LED is illuminated green; right LED flashes
yellow/green during autorun.)
4
Verify that the motor is rotating clockwise at approximately one revolution per
second, as viewed from the shaft end of the motor. (The motor is turning because
earlier you configured the drive for autorun.)
Proceed to Commanding Motion Under Program Control.
In this procedure you will use the Gemini command language to make the motor
turn. This will verify that your system is installed correctly.
1.
Issue the following commands to change the drive mode and verify correct
resolution:
DRIVEØ
(disables the drive and stops motion)
DMODE12
(changes mode from autorun to controller/drive mode)
DRIVE1
(enables the drive)
2.
Issue the following commands to the drive to make the motor turn:
LHØ
(disables limits)
MAØ
(enables incremental positioning mode; disables absolute mode)
MCØ
(enables incremental positioning mode; disables continuous mode)
A10
(sets acceleration to 10)
V1
(sets velocity to 1)
D25000
(sets distance to 1 rev (if DRES = 25000) )
GO
(initiates motion)
3.
Verify that the motor rotates one revolution and then stops.
This completes the Express Setup procedure.
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