Before You Begin; Setup Parameters Discussed In This Chapter - Parker Gem6K Series Programmer's Manual

Before You Begin

The Gem6K Product is used to control your system's electrical and mechanical components.
Therefore, you should test your system for safety under all potential conditions. Failure to do so
can result in damage to equipment and/or serious injury to personnel.

Setup Parameters Discussed in this Chapter

Below is a list of the setup parameters discussed in this chapter. You can check the status of each parameter setting by
entering the respective setup command without any command fields (e.g., typing LIMFNC <cr> displays the current
function and state of each limit input). Some setup parameters are also reported with the TSTAT and TASF status
commands (these and other status commands are described on page 222).
Setup Parameter
Memory (status with TDIR & TMEM)
Drive Setup............................................................................66
Drive resolution (stepper only) ..............DRES
Drive disable on kill................................KDRIVE
Drive stall detection ...............................DSTALL
Scaling...................................................................................67
Enable scaling factor .............................SCALE
Acceleration scaling factor.....................SCLA
Distance scaling factor ..........................SCLD
Velocity scaling factor............................SCLV
Positioning Mode...................................................................71
Continuous or preset .............................MC
Preset: absolute or incremental.............MA
Encoder Based Stepper Operation (stepper only)
Encoder resolution.................................ERES
Encoder capture/counting enable..........ENCCNT
Use encoder as counter ........................ENCSND
Stall detection ........................................ESTALL
Kill when stall is detected ......................ESK
Stall deadband.......................................ESDB
Tuning Procedures (servos only)
Current loop bandwidth .........................DIBW
Torque/force limit...................................DMTLIM
Velocity limit...........................................DMVLIM
Notch filter A depth ................................DNOTAD
Notch filter A frequency .........................DNOTAF
Notch filter A quality factor.....................DNOTAQ
Notch filter B depth ................................DNOTBF
Notch filter B quality factor.....................DNOTBQ
Notch filter B frequency ........................DNOTBF
Notch lead filter break frequency ..........DNOTLD
Notch lag filter break frequency ............DNOTLG
Position loop bandwidth ........................DPBW
Velocity loop bandwidth ........................DVBW
Load damping .......................................LDAMP
Load-to-rotor inertia ratio
or load-to-force mass ratio ....................LJRAT
Acceleration feed forward gain .............DNOTBF
Servo control signal offset .....................SGAF
Integrator enable ..................................SGINTE
Current damping ratio ...........................SGIRAT
64 Gem6K Series Programmer's Guide
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WARNING
Command See Pg.
...........MEMORY.............11 &
................84
((keep?))
..........................................85
Setup Parameter
65 Target Zone end-of-move settling criteria (servo axes)........
Target zone mode enable..................................................... STRGTE
Target distance zone ...................................................... STRGTD
Target velocity zone........................................................ STRGTV
Target settling timeout period ......................................... STRGTT
Programmable Input Functions ............................................
Define input functions ........................... INFNC & LIMFNC
Input active level ................................... INLVL & LIMLVL
Input debounce ..................................... INDEB
Trigger interrupt - special functions ...... TRGFN
Trigger interrupt - lockout time.............. TRGLOT
Virtual Inputs......................................... IN
Programmable Output Functions..........................................
Define output functions ......................... OUTFNC
Output active level ................................ OUTLVL
End-of-travel limits................................................................
Limit function assignments ................... LIMFNC & INFNC
Hardware – enabled ............................. LH
Hardware – deceleration....................... LHAD
Hardware – s-curve decel..................... LHADA
Hardware – active level of input............ LIMLVL
Software – enabled............................... LS
Software – deceleration ........................ LSAD
Software – s-curve decel ...................... LSADA
Software – negative direction limit ....... LSNEG
Software – positive direction limit ........ LSPOS
Homing .................................................................................
Limit function assignments ................... LIMFNC & INFNC
Acceleration .......................................... HOMA
S-curve acceleration ............................. HOMAA
Deceleration.......................................... HOMAD
S-curve deceleration............................. HOMADA
Backup to home.................................... HOMBAC
Final approach direction ....................... HOMDF
Stopping edge of switch........................ HOMEDG
Home switch active level ...................... LIMLVL
Velocity ................................................ HOMV
Velocity of final approach...................... HOMVF
Home to Z channel input....................... HOMZ
Variable Arrays (teaching variable data) ..............................
Initialize numeric variable for data ........ VAR or VARI
Define data program and program size DATSIZ
Set data pointer & establish increment . DATPTR
Reset data pointer to specific location .. DATRST
Command See Pg.
84
90
90
74
79
110