Parker GEM6K Series Manuals

Manuals and User Guides for Parker GEM6K Series. We have 2 Parker GEM6K Series manuals available for free PDF download: Programmer's Manual, User Information

Parker GEM6K Series Programmer's Manual

Parker GEM6K Series Programmer's Manual (254 pages)

Brand: Parker | Category: Controller | Size: 2 MB

Table of Contents

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3
- Table of Contents
  3
- Overview
  7
Programming Fundamentals

11
- Motion Planner Programming Environment
  12
  - Wizard-Based Programming
    12
  - Native Code Programming
    13
- Command Syntax
  14
- Creating Programs
  20
  - Program Example
    20
- Storing Programs
  21
  - Memory Allocation
    21
  - Checking Memory Status
    22
- Creating and Executing a Set-Up Program
  23
- Executing Programs
  23
- Executing Programs (Options)
  23
- Controlling Execution - Programs & Command Buffer
  24
- Controlling Execution of Programs and the Command Buffer
  24
  - COMEXC (Continuous Command Execution)
    24
- Program Security
  24
- Restricted Commands During Motion
  27
- Using Variables
  28
- Variables
  28
  - Converting between Binary and Numeric Variables
    28
- Program Flow Control
  33
  - Conditional Looping and Branching
    35
- Program Interrupts
  39
- Program Interrupts (on Conditions)
  39
- Error Handling
  40
- Non-Volatile Memory
  45
- System Performance
  45
- System Performance Considerations
  45
Communication

47
Product Control Options

125
- Options Overview
  126
  - Stand-Alone Interface Options
    126
- Overview of Product Control Options
  126
- Safety Features
  126
- Programmable I/O (Switches, Thumbwheels, Plcs, PLC Scan Mode, Etc.)
  128
  - Thumbwheels
    129
  - Plcs
    129
  - PLC Scan Mode
    130
- Programmable I/O Devices
  128
  - Programmable I/O Functions
    128
- RP240 Remote Operator Panel
  133
  - Configuration
    133
  - Operator Interface Features
    134
  - Using the Default Menus
    135
- Joystick and Analog Input Interface (Requires ANI SIM on Expansion I/O Brick)
  140
  - Analog Input Interface
    143
- Joystick Control, Analog Inputs
  140
  - Joystick Control
    140
- Host Computer Interface
  143
- Graphical User Interface (GUI) Development Tools
  144
Custom Profiling

145
- S-Curve Profiling
  146
  - S-Curve Programming Requirements
    146
  - Determining the S-Curve Characteristics
    146
  - Programming Example
    147
  - Calculating Jerk
    148
- Compiled Motion Profiling
  149
- On-The-Fly Motion (Pre-Emptive Gos)
  165
  - OTF Error Conditions
    166
  - On-The-Fly Motion - Sample Application
    167
- Registration
  169
- Conditional "Go"S (GOWHEN)
  173
  - Synchronizing Motion
    173
  - Trigger Functions (TRGFN)
    176
- Synchronizing Motion (GOWHEN and TRGFN Operations)
  173
Following

177
- For Following Profiles, See Page
  178
- Introduction to Ratio Following
  178
  - Following Status (TFSF, TFS & FS Commands)
    179
- Ratio Following - Introduction
  178
  - What Can be a Master
    178
- Implementing Ratio Following
  180
  - Ratio Following Setup Parameters
    180
  - Follower Vs. Master Move Profiles
    185
  - Performing Phase Shifts
    188
  - Geared Advance Following
    190
  - Summary of Ratio Following Commands
    191
- Master Cycle Concept
  192
  - Master Cycle Commands
    192
  - Summary of Master Cycle and Wait Commands
    195
- Technical Considerations for Following
  196
  - Performance Considerations
    196
  - Master Position Prediction
    197
  - Master Position Filtering
    197
  - Following Error
    198
  - Maximum Velocity and Acceleration (Stepper Axes Only)
    199
  - Factors Affecting Following Accuracy
    199
  - Preset Vs. Continuous Following Moves
    201
  - Master and Follower Distance Calculations
    202
  - Using Other Features with Following
    204
- Troubleshooting for Following
  206
  - Error Messages
    207
- Troubleshooting for Following (See also Chapter 8)
  206
- Following Commands
  208
- Following Commands (List)
  208
- Multi-Tasking
  211
  - Introduction to Multi-Tasking
    212
    
    Using Multi-Tasking to Run Programs
    212
    
    Interaction between Tasks
    216
    
    Tasks
    218
    
    How a "Kill" Works While Multi-Tasking
    219
  - Using Gem6K Resources While Multi-Tasking
    220
    
    Associating Axes with Tasks
    220
    
    Sharing Common Resources between Multiple Tasks
    221
    
    Locking Resources to a Specific Task
    221
    
    How Multi-Tasking and the % Prefix Affect Commands and Responses
    221
    
    Input and Output Functions and Multi-Tasking
    223
  - Multi-Tasking Performance Issues
    224
    
    When Is a Task Active
    224
    
    Task Swapping
    224
    
    Task Execution Speed
    225
Troubleshooting

227
- Solutions to Common Problems
  228
- Troubleshooting Basics
  228
- Program Debug Tools
  231
  - Status Commands
    232
  - Error Messages
    239
  - Trace Mode
    242
  - Single-Step Mode
    244
  - Break Points
    245
  - Simulating I/O Activation
    245
  - Simulating Programmable I/O Activation
    245
  - Simulating Analog Input Channel Voltages
    247
  - Motion Planner's Panel Gallery
    247
  - Simulating Analog Input Activation
    247
- Operating System Upgrades
  248
- Product Return Procedure
  248
- Technical Support
  248
- Index
  249

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