Rockwell-automation GMLC Reference Manual Manual do Utilizador Página 1

GML Commander(Cat. No. GMLC-5.2)Reference Manual

Publication GMLC-5.2 - November 1999Table of Contents viiAligning Blocks ...143Spacing Blocks .

Publication GMLC-5.2 - November 1999General 63Axis TypeSelect how the axis operates: • Master Only, to use this axis only as a master axis.Note: For

Publication GMLC-5.2 - November 199964 Configuring Axis UseTo enable this selection, first select IMC S Class 1394/1394 Turbo or IMC S Class 1394L as

Publication GMLC-5.2 - November 1999Defining Feedback 65Acceleration and Deceleration Display Format For a servo axis, type an acceleration and decele

Publication GMLC-5.2 - November 199966 Configuring Axis UseTransducer ResolutionConversion Constant (K)To allow axis position to be displayed and moti

Publication GMLC-5.2 - November 1999Defining Feedback 67For example, suppose this axis utilizes a 1000 line encoder in a motor coupled directly to a 5

Publication GMLC-5.2 - November 199968 Configuring Axis UseUnwind Fraction The Unwind Fraction lets you add a fractional count to the Unwind Constant

Publication GMLC-5.2 - November 1999Defining Feedback 69For example, if the Unwind is 4 position units and the Unwind Reference Point is -1 position u

Publication GMLC-5.2 - November 199970 Configuring Axis UseFilter Lag LimitThe Filter Lag Limit parameter sets the value for the maximum allowable fil

Publication GMLC-5.2 - November 1999Defining Position 71Velocity ProfileVelocity Profile is where you set the motion profiles for Move and Jog. The a

Publication GMLC-5.2 - November 199972 Configuring Axis UseTrapezoidalThe trapezoidal velocity profile is the most commonly used profile because it pr

Publication GMLC- 5.2 - November 1999viii Table of ContentsChapter 8 – Working with Program Scripts Translating a Diagram to Script...

Publication GMLC-5.2 - November 1999Defining Position 73S CurveYou will most frequently use the S curve velocity profiles when the stress on the mecha

Publication GMLC-5.2 - November 199974 Configuring Axis UseParabolicYou will most frequently use a parabolic velocity profile to optimize the motor se

Publication GMLC-5.2 - November 1999Defining Position 75•Parabolic JogSelect the default motion profile for servo axis motion commanded by a Jog Axis

Publication GMLC-5.2 - November 199976 Configuring Axis UseOffsetIf you selected backlash compensation, type a value equal to the distance, in servo a

Publication GMLC-5.2 - November 1999Defining Homing 77PositionPosition refers to the reference position for all positioning movements (home position)

Publication GMLC-5.2 - November 199978 Configuring Axis Use• Absolute Serial: only for AEC-216 and AEC Transducer Types.• Absolute MV (Motor Vernier):

Publication GMLC-5.2 - November 1999Defining Homing 79For example, if a return velocity of 0.1 inches per second (6 IPM) is specified, the uncertainty

Publication GMLC-5.2 - November 199980 Configuring Axis UseHoming SpeedType a default speed, in axis position units per second, at which the axis will

Publication GMLC-5.2 - November 1999Defining Homing 81Absolute_MVAbsolute_MV is an absolute homing procedure. You can only use this procedure with a

Publication GMLC-5.2 - November 199982 Configuring Axis UseImportant:When a passive homing procedure for a rotary axis begins, the working value of ax

Publication GMLC-5.2 - November 1999Table of Contents ixChapter 10 – Motion Blocks Home Axis ...

Publication GMLC-5.2 - November 1999Defining Overtravel 83To configure the Overtravel page, make entries in the following fields:Hard Travel LimitsSel

Publication GMLC-5.2 - November 199984 Configuring Axis UseMaximum NegativeIf you selected Soft Travel Limits, type the negative direction software tr

Publication GMLC-5.2 - November 1999Defining Servo 85• IMC S Class 1394/1394 Turbo controllers connected to a Drive Interface Module (DIM).• IMC S Cla

Publication GMLC-5.2 - November 199986 Configuring Axis UseControl Output Limit Type the maximum number of volts that is output to the drive, from: 0

Publication GMLC-5.2 - November 1999Defining Motor/Drive 87• Torque: the drive merely activates the motor, while the controller corrects for both posi

Publication GMLC-5.2 - November 199988 Configuring Axis Use5. Place the pointer in the Torque Limit data input box, and click the left mouse button. T

Publication GMLC-5.2 - November 1999Defining Motor/Drive 89Note: If you select a motor ID from the list, GML Commander will make the Velocity Limit a

Publication GMLC-5.2 - November 199990 Configuring Axis UseIf you selected Custom, type a limit as a % of rated torque (0 to 300%).Motor Thermal Fault

Publication GMLC-5.2 - November 1999Defining Fault Action 91.Disable Drive:• Feedback is disabled.• The controller cannot command motion.• Motion on t

Publication GMLC-5.2 - November 199992 Configuring Axis Use• Motion continues.• The controller indicates a fault status.To configure the Fault Action

Publication GMLC- 5.2 - November 1999x Table of ContentsOpposite Direction Gearing ...214Changing the Gear Ratio ...

Publication GMLC-5.2 - November 1999Verifying Hookups 93Drive FaultSelect the action that is to occur in response to a servo Drive_fault, if you enabl

Publication GMLC-5.2 - November 199994 Configuring Axis UseBefore running any of the diagnostic routines in this dialog box, be sure that:• all extern

Publication GMLC-5.2 - November 1999Verifying Hookups 95Test Increment Type a distance value, in servo axis position units.Note: In most cases, a dis

Publication GMLC-5.2 - November 199996 Configuring Axis Use• Yes if the axis moved in the intended direction.• No if the axis moved in the negative di

Publication GMLC-5.2 - November 1999Verifying Hookups 971. In the Hookups page of the Configure Axis Use dialog box, select the Marker Test button.2.

Publication GMLC-5.2 - November 199998 Configuring Axis Use2. In the Homing page of the Configure Axis Use dialog box, select an absolute Procedure ty

Publication GMLC-5.2 - November 1999Verifying Hookups 99 Then, do the following:1. In the Hookups page of the Configure Axis Use dialog box, select

Publication GMLC-5.2 - November 1999100 Configuring Axis UseBattery Box TestThe Battery Box test helps adjust the response and gain potentiometers on

Publication GMLC-5.2 - November 1999Tune Servo 101Note: The Battery Box test applies only to a Velocity Drive Interface (as set in the Servo page).Tu

Publication GMLC-5.2 - November 1999102 Configuring Axis Use1. Select the Tune Servo tab. A page similar to the following appears:2. Make entries in t

Publication GMLC-5.2 - November 1999Table of Contents xiCalculating the Analog Input Scalar ...245Analog Offset Control Loop Operation

Publication GMLC-5.2 - November 1999Tune Servo 1033. In the Tuning Direction area, make entries in the following fields:4. Make entries in the followi

Publication GMLC-5.2 - November 1999104 Configuring Axis UseTuning Your Compact If you are using a Compact, use this procedure to tune your drive, axi

Publication GMLC-5.2 - November 1999Tune Servo 1052. Make entries in the following fields:3. In the Tuning Direction area, make entries in the followi

Publication GMLC-5.2 - November 1999106 Configuring Axis Use5. Select Tune Gains. The proportional and velocity gains are entered in the Gains dialog

Publication GMLC-5.2 - November 1999Defining Gains 1072. Make entries in the following fields:3. Select Tune Gains. The proportional, velocity, and in

Publication GMLC-5.2 - November 1999108 Configuring Axis Use• Manually tuning your application programs’ power-up Gains values. You can do this instea

Publication GMLC-5.2 - November 1999Defining Gains 109Note: Increasing this number decreases response time and increases the stiffness of the servo s

Publication GMLC-5.2 - November 1999110 Configuring Axis UseImportant:For IMC S Class 1394/1394 Turbo controllers only.Deadband CompensationFor a torq

Publication GMLC-5.2 - November 1999Adjusting Gains Values for the Servo Axis 111Adjusting Gains Values for the Servo AxisThe Adjust Gains dialog box

Publication GMLC-5.2 - November 1999112 Configuring Axis UseYou make all changes to gain with the up and down arrows on each field’s value list. A cha

Publication GMLC- 5.2 - November 1999xii Table of ContentsSlaving to the Command Position ...277Selecting a Position-Lock Cam Dire

Publication GMLC-5.2 - November 1999Adjusting Gains Values for the Servo Axis 113Note: Increase the integral gain to increase the ultimate positionin

Publication GMLC-5.2 - November 1999114 Configuring Axis UseNote: Note: For Compact, Integrated, and Basic controllers only.5. Saving Changes• Save to

Publication GMLC-5.2 - November 1999Defining Dynamics 115Defining DynamicsUse the Defining Dynamics page to:• Manually tune your application program’s

Publication GMLC-5.2 - November 1999116 Configuring Axis UseMaximum SpeedA value, in position units per second, to set the maximum speed for this axis

Publication GMLC-5.2 - November 1999Adjusting Dynamics Values for the Servo Axis 117Adjusting Dynamics Values for the Servo AxisThe Adjust Dynamics di

Publication GMLC-5.2 - November 1999118 Configuring Axis UseYou make all changes to dynamics with the up and down arrows on each field’s value list. A

Publication GMLC-5.2 - November 1999Adjusting Dynamics Values for the Servo Axis 119• Error Tolerance – Select the up or down arrows to change how muc

Publication GMLC-5.2 - November 1999120 Configuring Axis UseApplying Axis Configuration ChangesThe Applying Axis Configuration Changes is used to:• De

Publication GMLC-5.2 - November 1999Applying Axis Configuration Changes 121Use the features of the Apply page as follows:Controller IconThe icon in th

Publication GMLC-5.2 - November 1999122 Configuring Axis Use

Publication GMLC-5.2 - November 1999Table of Contents xiiiWait for Axis and Multitasking ...300If Axis and Multitasking ...

Publication GMLC-5.2 - November 1999Chapter4Using the Imaginary AxisThe imaginary axis (available only in firmware 2.2 and later) is an internal axis

Publication GMLC-5.2 - November 1999124 Using the Imaginary AxisAs shown previously, all the motion generating functions of physical servo axes are av

Publication GMLC-5.2 - November 1999Using the Imaginary Axis in GML 125Like other axes, you can configure the imaginary axis as either a rotary or lin

Publication GMLC-5.2 - November 1999126 Using the Imaginary AxisWhen used with an imaginary axis, both of the following blocks, use the command positi

Publication GMLC-5.2 - November 1999Imaginary Axis Applications 127Imaginary Axis ApplicationsYou use the imaginary axis to synchronize multiple physi

Publication GMLC-5.2 - November 1999128 Using the Imaginary AxisBy inserting the imaginary axis between the true master and slave axes, gearing on the

Publication GMLC-5.2 - November 1999Imaginary Axis Applications 129• This technique works with trapezoidal profile moves, and with S-curve profile mov

Publication GMLC-5.2 - November 1999130 Using the Imaginary AxisUsing the imaginary axis allows two moves to be superimposed on one another in the sam

Publication GMLC-5.2 - November 1999Imaginary Axis Applications 131The Initialization module (below) enables feedback, reads the position lock toleran

Publication GMLC-5.2 - November 1999132 Using the Imaginary AxisThis expression compares the absolute value of the difference between the actual posit

Publication GMLC- 5.2 - November 1999xiv Table of ContentsSet Timer ...324Set Co

Publication GMLC-5.2 - November 1999Imaginary Axis Applications 133While the command position of the feed axis is polluted by the corrections with thi

Publication GMLC-5.2 - November 1999134 Using the Imaginary Axis

Publication GMLC-5.2 - November 1999Chapter5Working with BlocksTo create a program or diagram in GML Commander, you place blocks representing program

Publication GMLC-5.2 - November 1999136 Working with BlocksTo select a block from an open palette and position it in a diagram:1. Move the cursor over

Publication GMLC-5.2 - November 1999Manipulating Blocks 137Manipulating BlocksMost blocks and modules, including the Start and End blocks, have input

Publication GMLC-5.2 - November 1999138 Working with BlocksConnecting BlocksTo connect blocks and modules:1. Move the cursor to the desired output nod

Publication GMLC-5.2 - November 1999Manipulating Blocks 139Moving BlocksYou can drag blocks, including the Start and End blocks, anywhere in the Diagr

Publication GMLC-5.2 - November 1999140 Working with Blocks1. Move the cursor to a connecting line. The cursor changes to a wire cutter.Note: You can

Publication GMLC-5.2 - November 1999Making Changes to Your Diagram 141Making Changes to Your DiagramEdit menu options generally pertain to the Diagram

Publication GMLC-5.2 - November 1999142 Working with BlocksSwapping BlocksUse the Swap Blocks option to swap the location and connections of two selec

Publication GMLC-5.2 - November 1999Table of Contents xvWait for Task ...348Chapter 14 – Status Bl

Publication GMLC-5.2 - November 1999Making Changes to Your Diagram 1434. Select Swap Blocks. The blocks switch positions.Click your left mouse button

Publication GMLC-5.2 - November 1999144 Working with Blocks5. Click your left mouse button in another area of the Diagram Window to clear the selectio

Publication GMLC-5.2 - November 1999Snapping to the Grid 145Note: You can Align Blocks at this time for optimum readability.6. Click your left mouse

Publication GMLC-5.2 - November 1999146 Working with Blocks1. Place your cursor over one block in the diagram.2. Double-click your left mouse button.

Publication GMLC-5.2 - November 1999Accessing Block Information 147• Calculation blocks• Display and operator interface blocks• Miscellaneous blocks

Publication GMLC-5.2 - November 1999148 Working with Blocks

Publication GMLC-5.2 - November 1999Chapter6Working with DiagramsDiagrams are created in the Diagram Window using Commander’s graphical elements. They

Publication GMLC-5.2 - November 1999150 Working with Diagrams2. A new GML Commander diagram window similar to the following appears:3. Rename the dia

Publication GMLC-5.2 - November 1999Creating a Diagram 151We suggest that you create a library for your diagrams on your computer’s hard drive or your

Publication GMLC-5.2 - November 1999152 Working with Diagrams3. In the Search area, make entries in the following fields:4. In the Options area, make

Publication GMLC- 5.2 - November 1999xvi Table of ContentsStandby ...369Offline ...

Publication GMLC-5.2 - November 1999Displaying Diagram Information 1535. Make entries in the following fields:6. Select Find. The system searches for

Publication GMLC-5.2 - November 1999154 Working with DiagramsDocumenting Your DiagramDocumentation provides a place to record information about a spec

Publication GMLC-5.2 - November 1999Testing Diagrams 155:Enter the diagram title and a brief synopsis of the diagram in the areas provided.Testing Dia

Publication GMLC-5.2 - November 1999156 Working with Diagrams.Important:A successful test indicates that the diagram translates to a valid program, no

Publication GMLC-5.2 - November 1999Accessing the Online Manager 157Accessing the Online ManagerSelect the Online Connection option on the Diagram men

Publication GMLC-5.2 - November 1999158 Working with DiagramsInserting a BreakpointUse the Breakpoint option on the Diagram menu to set or clear break

Publication GMLC-5.2 - November 1999Chapter7Working With ModulesA module is one block made up of several related blocks and/or modules. These blocks a

Publication GMLC-5.2 - November 1999160 Working With Modules1. From the Block palette, select the New Module block. 2. Drag the block to where you wan

Publication GMLC-5.2 - November 1999Creating a Module 161To create a new module:1. From the Diagram Explorer, select the New Module block.2. Hold down

Publication GMLC-5.2 - November 1999162 Working With Modules4. Release the left mouse button. The block appears in the workspace.Important:A new modul

Important User InformationBecause of the variety of uses for the products described in this publication, those responsible for the application and use

Publication GMLC-5.2 - November 1999Table of Contents xviiUsing Bit Masks ...391Multiple Variables ...

Publication GMLC-5.2 - November 1999Creating a Module 1633. Select Encapsulate. The selected blocks are encapsulated into a mod-ule and given the defa

Publication GMLC-5.2 - November 1999164 Working With ModulesImportant: The number of module calls is limited to the size of the application program st

Publication GMLC-5.2 - November 1999Viewing the Contents of a Module 165To unencapsulate the contents of a module:1. Select the module. The module is

Publication GMLC-5.2 - November 1999166 Working With Modules• Select a single module in the Diagram Explorer and view its contents in the Diagram Wind

Publication GMLC-5.2 - November 1999Viewing the Contents of a Module 167• Select Collapse Module in the Module menu (or in the pop-up menu that opens

Publication GMLC-5.2 - November 1999168 Working With ModulesSplitting the Diagram WindowTo see different areas of the same diagram, you can split the

Publication GMLC-5.2 - November 1999Splitting the Diagram Window 1693. While holding down the left mouse button, pull the splitter down. The Diagram W

Publication GMLC-5.2 - November 1999170 Working With ModulesYou can continue to change these two working views of the Diagram Window. This would enabl

Publication GMLC-5.2 - November 1999Documenting a Module 171To document a module that appears in the Diagram Window:1. In the Diagram Explorer, select

Publication GMLC-5.2 - November 1999172 Working With Modules

Publication GMLC- 5.2 - November 1999xviii Table of ContentsStarting Offset ...407Chapter 21 – Displ

Publication GMLC-5.2 - November 1999Chapter8Working with Program ScriptsA program script is a text-based program file in iCode format. The controller

Publication GMLC-5.2 - November 1999174 Working with Program ScriptsTo translate a graphical GML Commander diagram to a native language script it must

Publication GMLC-5.2 - November 1999Editing a Script 175Handling Unsuccessful TranslationsDuring the translation, the GML Commander translator checks

Publication GMLC-5.2 - November 1999176 Working with Program ScriptsThe Script Editor provides standard cut, copy, paste, delete, and find/replace fun

Publication GMLC-5.2 - November 1999Chapter9Control Setting BlocksControl Setting blocks directly control some aspect of the motion controller.The fol

Publication GMLC-5.2 - November 1999178 Control Setting BlocksFeedbackThe Feedback block directly and immediately affects the appropriate drive enable

Publication GMLC-5.2 - November 1999Motion Settings 179Motion SettingsThe Motion Settings block allows you to set the motion controller’s:• Output lim

Publication GMLC-5.2 - November 1999180 Control Setting BlocksWhen the servo output is being clamped at the servo output limit• Output_limit_status =

Publication GMLC-5.2 - November 1999Motion Settings 181Setting the Motion ProfileYou can also use the Motion Settings block to set the type of motion

Publication GMLC-5.2 - November 1999182 Control Setting BlocksSetting the Maximum DecelerationYou can use the Motion Settings block to set the 100% de

Publication GMLC-5.2 - November 1999Table of Contents xixWaiting or Checking for a Specific Key ...423Checking for a Specific Key ...

Publication GMLC-5.2 - November 1999Direct Drive Control 183Direct Drive ControlThe Direct Drive Control block directly sets the servo output of the s

Publication GMLC-5.2 - November 1999184 Control Setting BlocksUse the Direct Drive Control block only on a physical master only axis, or a servo axis

Publication GMLC-5.2 - November 1999Reset Fault 185Selecting Reset 1394 clears all of the following 1394 system faults:• Axis_bus_loss_fault_1394 • Ax

Publication GMLC-5.2 - November 1999186 Control Setting BlocksSee the Fault Variable chapter in this manual for more information on the specific fault

Publication GMLC-5.2 - November 1999Redefine Position 187Absolute and Relative selections have the same effect when the axis is not moving. When the a

Publication GMLC-5.2 - November 1999188 Control Setting BlocksCommand PositionWhen you select Command from the Position menu, the motion controller di

Publication GMLC-5.2 - November 1999Control Settings 189When you select Synchronize with next block, the block immediately following the Redefine Posi

Publication GMLC-5.2 - November 1999190 Control Setting BlocksWhenever you power-up the motion controller—or whenever you press the Reset button, the

Publication GMLC-5.2 - November 1999Control Settings 191Whenever you power-up the motion controller—or whenever you press the Reset button, the workin

Publication GMLC-5.2 - November 1999192 Control Setting Blocks

Publication GMLC- 5.2 - November 1999xx Table of ContentsChapter 25 – The Expression BuilderCalculation Accuracy...

Publication GMLC-5.2 - November 1999Chapter 10Motion BlocksMotion blocks include all blocks that cause or directly affect motion of the physical axes.

Publication GMLC-5.2 - November 1999194 Motion BlocksMove a group of two or more physical or imaginary axes either to an absolute position on, or by a

Publication GMLC-5.2 - November 1999Home Axis 195Motion blocks provide access to all of the high-level motion functions in the motion controllers. See

Publication GMLC-5.2 - November 1999196 Motion BlocksThe Homing_status variable is 1 (true) while the homing is in progress. When active homing is com

Publication GMLC-5.2 - November 1999Home Axis 197The Homing_status variable is 1 (true) while the homing is in progress. When the marker is detected,

Publication GMLC-5.2 - November 1999198 Motion BlocksWhen you select Synchronize with next Home Axis, the block immediately following the Home Axis bl

Publication GMLC-5.2 - November 1999Move Axis 199While a move is in progress:• Move_status = 1 (true) • Axis_status = 3 (Moving)• Lock_status = 0 (Unl

Publication GMLC-5.2 - November 1999200 Motion Blocks• Axis_status = 0 (Locked)• Lock_status = 1 (Locked)See the Axis Locked and Axis Done Conditions

Publication GMLC-5.2 - November 1999Move Axis 201Absolute Moves on Rotary AxesWhen an axis is configured for rotary operation, the motion controller h

Publication GMLC-5.2 - November 1999202 Motion BlocksIncremental Moves with GearingYou can use a Gear Axes block while an incremental move is in progr

Publication GMLC-5.2 - November 1999Table of Contents xxiRegistration Position ...479Soft Registration Positio

Publication GMLC-5.2 - November 1999Move Axis 203This motion can be thought of as smoothly shifting the master reference position of the cam by the sp

Publication GMLC-5.2 - November 1999204 Motion BlocksNote that if the master axis is not moving, you can achieve this same effect using another positi

Publication GMLC-5.2 - November 1999Move Axis 205When you select Rotary Shortest Path, the axis moves to the specified position at the specified speed

Publication GMLC-5.2 - November 1999206 Motion BlocksRotary Positive MovesUse the Rotary Positive Move to move a rotary Axis to the desired absolute p

Publication GMLC-5.2 - November 1999Move Axis 207When you select Rotary Negative, the axis moves to the specified position at the specified speed usin

Publication GMLC-5.2 - November 1999208 Motion BlocksCurrent SpeedSelecting At Current Speed from the Merge from Jog, Cam, or Gear menu, automatically

Publication GMLC-5.2 - November 1999Jog Axis 209When you select Synchronize with next Move Axis, the block immediately following the Move Axis block m

Publication GMLC-5.2 - November 1999210 Motion Blocks• Axis_status = 2 (Jogging).• Lock_status = 0 (Unlocked).When the jog is done:• Jog_status = 0 (f

Publication GMLC-5.2 - November 1999Gear Axes 211Current SpeedSelecting At Current Speed from the Merge from, Cam, or Gear menu, automatically sets th

Publication GMLC-5.2 - November 1999212 Motion Blocks• Gearing_status = 1 on the slave axis.• Axis_status = 5 if no faults are active on the slave axi

Publication GMLC- 5.2 - November 1999xxii Table of ContentsChapter 28 – Fault Variables Global Fault ...

Publication GMLC-5.2 - November 1999Gear Axes 213Actual position is the current position of a physical or virtual master axis as measured by an encode

Publication GMLC-5.2 - November 1999214 Motion BlocksBecause the command position does not incorporate any associated following error or external posi

Publication GMLC-5.2 - November 1999Gear Axes 215Set RatioSet Ratio is a required field for the first Gear Axes block in a program. It is an optional

Publication GMLC-5.2 - November 1999216 Motion BlocksSpecifying the gear ratio as a fraction allows the use of irrational numbers (such as 1/3) as gea

Publication GMLC-5.2 - November 1999Gear Axes 217The command position, of both the slave and master axes, is stored as the Strobed_Position when you i

Publication GMLC-5.2 - November 1999218 Motion BlocksWhen you select Synchronize with next Gear Axes, the block immediately following the current Gear

Publication GMLC-5.2 - November 1999Gear Axes 219Changing virtual master axes on the fly is similar to changing physical Master Only master axes, but

Publication GMLC-5.2 - November 1999220 Motion BlocksInterpolate AxesUse the Interpolate Axes block (for motion controllers with iCODE version 3.0 or

Publication GMLC-5.2 - November 1999Interpolate Axes 221• Interp0_status or Interp1_status = 0 (false). See the Axis Locked and Axis Done Conditions c

Publication GMLC-5.2 - November 1999222 Motion BlocksLike all other high-level motion functions in the motion controller, the interpolator outputs onl

Publication GMLC-5.2 - November 1999Table of Contents xxiiiDSP Error 1394 ...535Flex I/O Missing or Fa

Publication GMLC-5.2 - November 1999Interpolate Axes 223If the axes are orthogonally disposed to each other, and are both currently at absolute positi

Publication GMLC-5.2 - November 1999224 Motion BlocksThe vector speed of the selected axes (assuming an orthogonal Cartesian disposition of axes) is e

Publication GMLC-5.2 - November 1999Interpolate Axes 225If the calculated acceleration/deceleration value exceeds the input acceleration/deceleration

Publication GMLC-5.2 - November 1999226 Motion BlocksIf you had, instead, selected CCW from the Direction menu, the axes would have moved along the ar

Publication GMLC-5.2 - November 1999Interpolate Axes 227Example 2: Radius Arc Incremental ModeIf you are operating in incremental mode, both the end p

Publication GMLC-5.2 - November 1999228 Motion BlocksThe vector speed of the selected axes is equal to the specified speed in the position units of th

Publication GMLC-5.2 - November 1999Interpolate Axes 229The most frequent cause of bad arcs, other than typographical errors, is incorrect trigonometr

Publication GMLC-5.2 - November 1999230 Motion BlocksIntermediate Arc Circular InterpolationWhen you select Intermediate Arc from the Type menu, the s

Publication GMLC-5.2 - November 1999Interpolate Axes 231Example 4: Intermediate Arc Incremental ModeIf you are operating in incremental mode, both the

Publication GMLC-5.2 - November 1999232 Motion BlocksFor example, if the following bullets are true, and the Interpolate Axes parameters are as shown

Publication GMLC- 5.2 - November 1999xxiv Table of ContentsSystem Module Hard Fault 1394... 555Axis Power Fault 1394 ...

Publication GMLC-5.2 - November 1999Interpolate Axes 233Full CirclesA complete circle is a special case of a circular arc in which the start and end p

Publication GMLC-5.2 - November 1999234 Motion BlocksExample 6: Full Circle in Incremental ModeIn incremental mode, the distance for each axis must be

Publication GMLC-5.2 - November 1999Interpolate Axes 235Helical InterpolationTo enable helical interpolation, you must first enable the third and four

Publication GMLC-5.2 - November 1999236 Motion Blocks+Y–Z–Y+Z5510–1010–5–5–10510–5–10(–10,10,–5)(–5,5,–5)Centerof Helix(–10,10,5)

Publication GMLC-5.2 - November 1999Interpolate Axes 237In this example, the absolute endpoints of the X and Y axes are the same as their start points

Publication GMLC-5.2 - November 1999238 Motion BlocksThe radius of the helix is the vector distance from the current position of the X and Y axes to t

Publication GMLC-5.2 - November 1999Interpolate Axes 239The vector speed of the selected X and Y axes is equal to the specified speed in the position

Publication GMLC-5.2 - November 1999240 Motion BlocksIf the move segments are not tangential at their intersection, the axes come to a stop between th

Publication GMLC-5.2 - November 1999Interpolate Axes 241After successfully executing an Interpolate Axes block with Merge from Previous Segment select

Publication GMLC-5.2 - November 1999242 Motion BlocksYou can change the vector speed of a merged segment by specifying the desired new speed in an Int

Publication GMLC-5.2 - November 1999Table of Contents xxvInterpolator Acceleration Status ...585Interpolator Deceleration Statu

Publication GMLC-5.2 - November 1999Change Dynamics 243Change DynamicsThe Change Dynamics block changes the following for a servo axis, on-the-fly:• s

Publication GMLC-5.2 - November 1999244 Motion BlocksChanging Jog DynamicsSelecting Jog in the For current field, lets you change the speed, accelerat

Publication GMLC-5.2 - November 1999Analog Offset 245Immediately after the Analog Offset block executes, the axis moves from the actual input starting

Publication GMLC-5.2 - November 1999246 Motion BlocksAnalog Offset Control Loop OperationWhen you use the analog offset function, the controller reads

Publication GMLC-5.2 - November 1999Configure Cam 247• the Analog_Offset_error.The Analog_Offset_setpoint axes system variable is the setpoint specifi

Publication GMLC-5.2 - November 1999248 Motion BlocksAlso, use the Configure CAM block’s Auto-Correction dialog box to continuously re-synchronize pos

Publication GMLC-5.2 - November 1999Configure Cam 249The cam tables in the motion controller can store any number of individual profiles of any length

Publication GMLC-5.2 - November 1999250 Motion BlocksConfiguring Position Lock CamsSelecting Once in the Perform Profile field causes the selected cam

Publication GMLC-5.2 - November 1999Configure Cam 251By configuring the next cam profile as a pending position-lock cam while the current profile stil

Publication GMLC-5.2 - November 1999252 Motion BlocksSee System Variable in the Expression Builder chapter of this manual for more information on vari

Publication GMLC- 5.2 - November 1999xxvi Table of ContentsSystem Smart Power Regenerative Power Percent Used 1394...

Publication GMLC-5.2 - November 1999Configure Cam 253The GML Commander diagram below implements the three-part position-lock cam profile shown earlier

Publication GMLC-5.2 - November 1999254 Motion BlocksAuto Correction (Configure Cam)Use Auto-Correction, in conjunction with Auto Registration, to con

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 255Phase Shift and Incremental Auto-CorrectionSelect Phase to perform auto correct

Publication GMLC-5.2 - November 1999256 Motion BlocksWhen a good registration event occurs on the registering axis, the PCAM_good_registration_count a

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 257• the PCAM_registration_error variable displays the current registration error

Publication GMLC-5.2 - November 1999258 Motion BlocksTo allow rejecting spurious registration events, specify a tolerance around the target position b

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 259Relative Auto-CorrectionRelative Auto-Correction automatically corrects for err

Publication GMLC-5.2 - November 1999260 Motion BlocksWhen a good registration event occurs on the registering axis, the PCAM_good_registration_count a

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 261• the current remaining distance to go of the auto-correction indexer is availa

Publication GMLC-5.2 - November 1999262 Motion BlocksTo allow rejecting spurious registration events, a tolerance may be specified around the nominal

European Communities (EC) Directive ComplianceIf this product has the CE mark it is approved for installation within the European Union and EEA region

Publication GMLC-5.2 - November 1999Table of Contents xxviiSLC Bit Output ...627AxisLink Output ...

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 263In most applications, the last registration position value should be equal to t

Publication GMLC-5.2 - November 1999264 Motion BlocksSee Phase Shift Moves in the Move Axis section of this chapter for more information on phase shif

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 265When a good registration event occurs on the registering axis, the PCAM_good_re

Publication GMLC-5.2 - November 1999266 Motion BlocksThe corresponding parameters for relative ratioed auto-correction are the same as those for relat

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 267Soft RegistrationThe Soft_Reg_Pos_Master Axis_Registering Axis variable is used

Publication GMLC-5.2 - November 1999268 Motion BlocksAuto-correction speed is set to:• Long Correction (or Neg Long Override) Speed if the magnitude o

Publication GMLC-5.2 - November 1999Auto Correction (Configure Cam) 269Note that the short correction (negative short override) speed, as represented

Publication GMLC-5.2 - November 1999270 Motion BlocksTime Lock CAMThe Time Lock Cam block executes a time-lock cam profile created by a previous Confi

Publication GMLC-5.2 - November 1999Time Lock CAM 271See the Axis Locked and Axis Done Conditions chapter of this manual for a complete discussion of

Publication GMLC-5.2 - November 1999272 Motion BlocksMerge from JogSelect Merge from Jog to let a previously programmed Jog Axis block smoothly ramp t

Publication GMLC- 5.2 - November 1999xxviii Table of ContentsSetting the AxisLink Addresses ...657Enabling AxisLink in GM

Publication GMLC-5.2 - November 1999Time Lock CAM 273Scaling Time Lock CamsYou can scale a time-lock cam profile in both time and distance when it is

Publication GMLC-5.2 - November 1999274 Motion BlocksIncreasing the total time of a cam profile decreases the velocities and accelerations of the prof

Publication GMLC-5.2 - November 1999Position Lock CAM 275Position lock cams neither recognize nor use the maximum speed, acceleration, or deceleration

Publication GMLC-5.2 - November 1999276 Motion BlocksSee the System Variables chapter of this manual for more information on these variables. Note tha

Publication GMLC-5.2 - November 1999Position Lock CAM 277Slaving to the Actual PositionWhen you select Actual from the Slave to menu, the actual posit

Publication GMLC-5.2 - November 1999278 Motion BlocksBecause the command position does not incorporate any associated following error or external posi

Publication GMLC-5.2 - November 1999Position Lock CAM 279When the absolute position of the master axis passes the specified master axis reference posi

Publication GMLC-5.2 - November 1999280 Motion BlocksThe position-lock cam motion starts when the master axis position passes the specified master ref

Publication GMLC-5.2 - November 1999Position Lock CAM 281When you select Synchronize with Next PCam, the block immediately following the position-lock

Publication GMLC-5.2 - November 1999282 Motion BlocksTo scale a position-lock cam profile, select Scale Profile and enter the desired total master dis

Publication GMLC-5.2 - November 1999Table of Contents xxixAxis Fault ...700Application

Publication GMLC-5.2 - November 1999Position Lock CAM 283Moving While CammingYou can use an incremental Move Axis block on the slave axis (or master a

Publication GMLC-5.2 - November 1999284 Motion BlocksDisable Position Lock CAMThe Disable Position Lock CAM block stops the position-lock cam currentl

Publication GMLC-5.2 - November 1999Disable Gearing 285Disable GearingThe Disable Gearing block immediately stops the electronic gearing motion of the

Publication GMLC-5.2 - November 1999286 Motion BlocksThe Stop Motion block (except when Kill Control is selected) stops the selected type of motion by

Publication GMLC-5.2 - November 1999Stop Motion 287• resets all servo outputs to zero• deactivates all drive enable outputs• disables the CPU Watchdog

Publication GMLC-5.2 - November 1999288 Motion Blocks

Publication GMLC-5.2 - November 1999Chapter11I/O and Event BlocksI/O and Event blocks control discrete I/O as well as registration, timer, and positio

Publication GMLC-5.2 - November 1999290 I/O and Event Blocks• Arm a watch position event to occur when the selected physical or imaginary axis reaches

Publication GMLC-5.2 - November 1999Output 291OutputThe Output block directly and immediately turns on or off a single Flex I/O, general purpose, RIO,

Publication GMLC-5.2 - November 1999292 I/O and Event BlocksWhen you enable an output cam, the selected discrete output is no longer available for use

Publication GMLC- 5.2 - November 1999xxx Table of ContentsEditing CNET Bits, Floats, and Variables ...767Deleting CNET Bits, Floats, and

Publication GMLC-5.2 - November 1999Output CAM 293The AxisLink virtual axes are functionally equivalent to physical master only axes, therefore you ca

Publication GMLC-5.2 - November 1999294 I/O and Event BlocksCommand position is a more stable reference for camming, because it does not incorporate a

Publication GMLC-5.2 - November 1999Output CAM 295Actuation DelaySolenoids, valves, relays, etc. have a delay between the following:• the time when th

Publication GMLC-5.2 - November 1999296 I/O and Event BlocksWith output cams, the actuation delay value compensates for the intrinsic device actuation

Publication GMLC-5.2 - November 1999Input 297This ensures that the device turns on at the selected axis position regardless of axis speed.Output cam w

Publication GMLC-5.2 - November 1999298 I/O and Event BlocksTypeThe Type field determines the function to be performed. The three options are:• Wait

Publication GMLC-5.2 - November 1999Input 299Input ClassThere are three options for the Input Class field:• Configured – causes the Configured tab to

Publication GMLC-5.2 - November 1999300 I/O and Event BlocksTurbo controllers).• The Axis selected, above (e.g., for AXIS1 on a 1394L controller, only

Publication GMLC-5.2 - November 1999On Axis 301StatusThe available status selections vary, depending upon the type of command—Wait for Axis or If Axis

Publication GMLC-5.2 - November 1999302 I/O and Event BlocksAcceleratedWhen you select Accelerated in Wait for Axis mode, the current task pauses unti

Publication GMLC-5.2 - November 1999Table of Contents xxxiChapter 37 – Initializing Your Motion ControllerInitializing the Hardware ...

Publication GMLC-5.2 - November 1999On Axis 303AcceleratingWhen you select Accelerating in Wait for Axis mode, the current task pauses until either of

Publication GMLC-5.2 - November 1999304 I/O and Event BlocksSee Move Axis, Jog Axis, Interpolate Axes and Stop Motion for more information on moving,

Publication GMLC-5.2 - November 1999On Axis 305See Move Axis, Jog Axis, Interpolate Axes, and Stop Motion for more information on moving, jogging, int

Publication GMLC-5.2 - November 1999306 I/O and Event BlocksWhen you select Decelerating in If Axis mode, the program branches to the top (true) node

Publication GMLC-5.2 - November 1999On Axis 307Gearing OnGearing OppositeHoming / Homing DoneWhen you select Homing in If Axis mode, the program branc

Publication GMLC-5.2 - November 1999308 I/O and Event BlocksInterpolating / Interpolating DoneSee Interpolate Axes section and Stop Motion section for

Publication GMLC-5.2 - November 1999On Axis 309LockedAn axis is locked whenever either of the following two sets of conditions are true:• Feedback on,

Publication GMLC-5.2 - November 1999310 I/O and Event BlocksThe position lock tolerance is set in the Positioning page of the selected axis Configure

Publication GMLC-5.2 - November 1999On Axis 311When you select Moving Done in Wait for Axis mode, the current task pauses until the selected physical

Publication GMLC-5.2 - November 1999312 I/O and Event BlocksOnce the stop is engaged, the axis position is then re-defined to be the known position of

Publication GMLC- 5.2 - November 1999xxxii Table of ContentsUsing Trace ...838Using the No

Publication GMLC-5.2 - November 1999Watch Control 313The Watch Control block, with Arm type and Watch Position class selected, sets up a watch positio

Publication GMLC-5.2 - November 1999314 I/O and Event BlocksWait for TrippedIf you select Wait for Tripped, the program pauses until the watch positio

Publication GMLC-5.2 - November 1999Watch Control 315After the registration event occurs, the Registration_status variable for the axis is 1 (true). S

Publication GMLC-5.2 - November 1999316 I/O and Event BlocksFor linear axes, the values can be positive, negative, or a combination. However, the mini

Publication GMLC-5.2 - November 1999Watch Control 317If you did not select Wait for Tripped, the Watch Control block with Arm and Registration selecte

Publication GMLC-5.2 - November 1999318 I/O and Event BlocksOnly one of the two available virtual axes can be enabled at one time—enabling one virtual

Publication GMLC-5.2 - November 1999Watch Control 319If the specified condition is not true when the Watch Control block is executed, program flow bra

Publication GMLC-5.2 - November 1999320 I/O and Event BlocksEvent Action ComputationsWatch position actions are fast because the event action block (c

Publication GMLC-5.2 - November 1999Watch Control 321If you select the Equation block as the action block, you can only use it to save the actual or c

Publication GMLC-5.2 - November 1999322 I/O and Event BlocksInput event actions are fast because the event action block (connected to the top (true) n

Publication GMLC-5.2 - November 1999Table of Contents xxxiiiCAM Palette Blocks ...884DH-485 Palet

Publication GMLC-5.2 - November 1999On Watch 323If you selected Wait for Tripped in the Watch Control block, do not use an On Watch block, with Wait f

Publication GMLC-5.2 - November 1999324 I/O and Event BlocksIf other tasks are executing (multitasking), the task which contains this block pauses but

Publication GMLC-5.2 - November 1999On Timeout 325If you select Wait for Timeout, program execution halts until the timer times out. When it does, the

Publication GMLC-5.2 - November 1999326 I/O and Event BlocksWhen multiple tasks are executing (multitasking), you can use an If Timeout block in one t

Publication GMLC-5.2 - November 1999If Axis Fault 327Note: In the table above, the columns at the right show whether each fault value is valid for se

Publication GMLC-5.2 - November 1999328 I/O and Event BlocksChecking for Any Fault on a Specific AxisWhen you select Any Fault Specific Axis, program

Publication GMLC-5.2 - November 1999Chapter12Program Control BlocksProgram Control blocks provide a convenient way of intelligently restarting and end

Publication GMLC-5.2 - November 1999330 Program Control BlocksRestart TypeWhen the program is restarted using the Restart selection, multitasking is t

Publication GMLC-5.2 - November 1999Restart Program 331The Restart Program block, with When Restart selected, must be used with another Restart Progra

Publication GMLC-5.2 - November 1999332 Program Control BlocksEnd ProgramUse the End Program block to:• Stop the execution of your GML Commander progr

Publication GMLC- 5.2 - November 1999xxxiv Table of Contents

Publication GMLC-5.2 - November 1999End Program 333An End type block, in the When End or Fault sequence, unconditionally stops all tasks and ends the

Publication GMLC-5.2 - November 1999334 Program Control BlocksIf you selected, in the End Program block with When End or Fault selected, either of the

Publication GMLC-5.2 - November 1999End Program 335Global FaultsA diagram that includes an End Program block with both When End or Fault and Go to Whe

Publication GMLC-5.2 - November 1999336 Program Control BlocksUnlike an End Program block with End selected elsewhere in the diagram (which executes t

Publication GMLC-5.2 - November 1999End Program 337If multitasking was not enabled when the fault occurred and the End Program block with When End or

Publication GMLC-5.2 - November 1999338 Program Control BlocksThe Task Control block, with Restart Dispatcher selected, immediately turns multitasking

Publication GMLC-5.2 - November 1999End Program 339When using this technique, it is important that task 0 (the main task) be the last task resumed. On

Publication GMLC-5.2 - November 1999340 Program Control Blocks

Publication GMLC-5.2 - November 1999Chapter13Multitasking BlocksMultitasking blocks control the starting and stopping of multiple independent tasks (m

Publication GMLC-5.2 - November 1999342 Multitasking BlocksMultitasking OperationIn the motion controllers, multitasking operates by means of a softwa

Publication GMLC-5.2 - November 1999PrefacePrefaceRead this preface to familiarize yourself with this manual. This preface covers the following topics

Publication GMLC-5.2 - November 1999Task Control 343• Turn on multitasking by re-enabling the previously disabled task dispatcher (Restart Dispatcher

Publication GMLC-5.2 - November 1999344 Multitasking BlocksWhen starting multiple tasks, make sure that each task has a unique task number. Task numbe

Publication GMLC-5.2 - November 1999Task Control 345By contrast, the following diagram presents an example of incorrect looping, and causes a runtime

Publication GMLC-5.2 - November 1999346 Multitasking BlocksStop Other TaskStop Other Task stops execution of the selected task. As each task can be th

Publication GMLC-5.2 - November 1999On Task 347Unlike the Stop Current Task and Stop Other Task type commands—which are equivalent to the block in a

Publication GMLC-5.2 - November 1999348 Multitasking Blocks• been suspended by a Task Control block with Stop Dispatcher type selected• been stopped b

Publication GMLC-5.2 - November 1999Chapter14Status BlocksStatus blocks report the status of the motion controller to the operator interface serial po

Publication GMLC-5.2 - November 1999350 Status BlocksWhen you select DH-485 Link in the Configure Control Options dialog box, serial port B on the mot

Publication GMLC-5.2 - November 1999Show Axis Status 351In the above table, the columns at the right show whether each status value is valid for servo

Publication GMLC-5.2 - November 1999352 Status BlocksAxis status conditions are prioritized from highest to lowest as shown in the previous table. The

Publication GMLC- 5.2 - November 19992 PrefaceWho Should Use this ManualUse this manual if you are responsible for designing, testing, or debugging GM

Publication GMLC-5.2 - November 1999Show Input Status 353Input – Select the dedicated axis input, the status of which (ON or OFF) will be read.The ava

Publication GMLC-5.2 - November 1999354 Status BlocksShow Program StatusThe Show Program Status block sends to the operator interface serial port:• Th

Publication GMLC-5.2 - November 1999Show Program Status 355Specific Task StatusThe Specific Task option displays the execution status of the task sele

Publication GMLC-5.2 - November 1999356 Status BlocksThe firmware number contains eight characters, formatted as shown in the table below.Show Memory

Publication GMLC-5.2 - November 1999Show Program Status 357Setup DataIf a Setup Data Memory Status type displays a 1—indicating corruption of the setu

Publication GMLC-5.2 - November 1999358 Status Blocks

Publication GMLC-5.2 - November 1999Chapter15AxisLink BlocksAxisLink blocks control the operation of AxisLink and are used only with motion controller

Publication GMLC-5.2 - November 1999360 AxisLink BlocksVirtual Axis ControlThe Virtual Axis Control block enables and disables AxisLink virtual axes.

Publication GMLC-5.2 - November 1999Read Remote Value 361Selecting Wait for Linked halts execution of the program until the virtual axis is in the sel

Publication GMLC-5.2 - November 1999362 AxisLink BlocksThe AxisLink_general_fault variable indicates whether or not the attempted AxisLink connection

Publication GMLC-5.2 - November 1999Table of Contents iPreface Prerequisite Knowledge... 1Who Shoul

Publication GMLC-5.2 - November 1999Where to Find Help 3Using the Manual Set This manual is part of the documentation set for GML Commander:Using Onli

Publication GMLC-5.2 - November 1999Reset AxisLink Fault 363The Reset AxisLink Fault block sets the AxisLink_timeout, AxisLink_failed, and AxisLink_ge

Publication GMLC-5.2 - November 1999364 AxisLink Blocks

Publication GMLC-5.2 - November 1999Chapter16RIO BlocksUse RIO blocks, together with an Allen-Bradley PLC, to check RIO status, control block transfer

Publication GMLC-5.2 - November 1999366 RIO BlocksShow RIO StatusUse the Show RIO Status block to check the RIO interface and send the resulting statu

Publication GMLC-5.2 - November 1999On RIO 367On RIOUse the On RIO block to:• Pause the current task until the selected RIO status condition is true.•

Publication GMLC-5.2 - November 1999368 RIO BlocksRIO Status ConditionsYou can also determine the RIO status from the color of the diagnostic LED for

Publication GMLC-5.2 - November 1999On RIO 369Recoverable ErrorWhen you select Recoverable Error from the RIO Status menu, the current task pauses unt

Publication GMLC-5.2 - November 1999370 RIO BlocksOn RIO blocks, with Wait for RIO Block Transfer selected, are not usually required unless block tran

Publication GMLC-5.2 - November 1999Auto RIO Update 371Auto RIO UpdateUse the Auto RIO Update block to:• Initiate automatic updating to selected RIO d

Publication GMLC-5.2 - November 1999372 RIO BlocksThe specified formatted data output group receives the current value of the Output Data expression a

Publication GMLC- 5.2 - November 19994 PrefaceUsing the Optional Novice ModeIf you have never used Windows-based software or if you feel that you need

Publication GMLC-5.2 - November 1999Auto RIO Update 373When using the RIO option as an adapter, and it is set to rack 4 using a full rack starting at

Publication GMLC-5.2 - November 1999374 RIO BlocksThe magnitude of the value is written to I/O Group 6 (RIO adapter user-defined discrete outputs 68 –

Publication GMLC-5.2 - November 1999Auto RIO Update 375The most significant bit is at:PLC I:046/17 (RIO output 83)The sign bit is:PLC I:047/17 (RIO ou

Publication GMLC-5.2 - November 1999376 RIO BlocksFixed Binary Numeric FormatWhen you select Fixed from the first Numeric Format menu and Binary from

Publication GMLC-5.2 - November 1999Auto RIO Update 377Auto BCD Numeric FormatWhen you select Auto from the first Numeric Format menu and BCD from the

Publication GMLC-5.2 - November 1999378 RIO BlocksWhen using the RIO option as a scanner and the PanelView is set up as rack 3, the following definiti

Publication GMLC-5.2 - November 1999Auto RIO Update 379The four least significant digits of the magnitude are written to I/O group 6. The remaining th

Publication GMLC-5.2 - November 1999380 RIO BlocksFixed BCD Numeric FormatWhen you select Fixed from the first Numeric Format menu and BCD from the se

Publication GMLC-5.2 - November 1999Reset RIO 381Tag WindowSelect the discrete output that receives (On) or no longer receives (Off) data.Reset RIOUse

Publication GMLC-5.2 - November 1999382 RIO Blocks

Publication GMLC-5.2 - November 1999Related Documentation 5Specifications of the IMC S Class Compact motion controllers IMC S Class Compact Motion Con

Publication GMLC-5.2 - November 1999Chapter17CNET BlocksIf you select CNET in the General page of the Configure Control Options dialog box, you can us

Publication GMLC-5.2 - November 1999384 CNET Blocks• Pause execution of the current task at this block until CNET communications attains a specified C

Publication GMLC-5.2 - November 1999Show CNET Status 385If CNET StatusSelect If CNET to branch program depending upon the status of a specified CNET c

Publication GMLC-5.2 - November 1999386 CNET BlocksMAC IDWhen you select MAC ID from the Show menu, the address (or Media Access Control ID) of the lo

Publication GMLC-5.2 - November 1999Chapter18DH-485 BlocksWhen DH-485 is selected in the General page of the Configure Control Options dialog box, you

Publication GMLC-5.2 - November 1999388 DH-485 BlocksShow DH-485 StatusUse the Show DH-485 Status block to check the DH-485 interface and send the res

Publication GMLC-5.2 - November 1999DH-485 Value 389• The node address of the motion controller’s predecessor (the device which passes the token to th

Publication GMLC-5.2 - November 1999390 DH-485 BlocksSend TypeWhen you select DH-485 in the Configure Control Options dialog box, the DH-485 Value blo

Publication GMLC-5.2 - November 1999DH-485 Value 391Specifying the Remote Element DirectlySelecting Specify Remote Addressing lets you directly specif

Publication GMLC-5.2 - November 1999392 DH-485 BlocksMultiple VariablesThe specified number of values—starting with the specified DH-485 remote elemen

Publication GMLC- 5.2 - November 19996 PrefaceContents of this ManualChapter Title ContentsPrefacePrefaceThis chapter provides an introduction to GML

Publication GMLC-5.2 - November 1999DH-485 Value 393The maximum number of contiguous remote elements which may be sent using a single DH-485 Value blo

Publication GMLC-5.2 - November 1999394 DH-485 BlocksWith binary files, each element contains 16 bits—or sub-elements—but the entire word containing t

Publication GMLC-5.2 - November 1999On DH-485 Status 395If DH-485If you select DH-485 Interface in the General page of the Configure Control Options d

Publication GMLC-5.2 - November 1999396 DH-485 BlocksIf other tasks are executing (multitasking), the task that contains this block pauses while the o

Publication GMLC-5.2 - November 1999Chapter19SLC BlocksIf you select SLC in the General page of the Configure Control Options dialog box, you can use

Publication GMLC-5.2 - November 1999398 SLC BlocksThe Show SLC Status block resides on the SLC Palette. It requires no parameters, and has no dialog b

Publication GMLC-5.2 - November 1999Interrupt SLC 399Program StatusProgram status indicates the SLC is in the mode for creating, or programming, a lad

Publication GMLC-5.2 - November 1999400 SLC BlocksThe 1394 GMC Turbo can issue a request for service command and generate an interrupt to the SLC proc

Publication GMLC-5.2 - November 1999Chapter20Calculation BlocksCalculation blocks perform mathematical and logical calculations to define variable val

Publication GMLC-5.2 - November 1999402 Calculation BlocksEquationThe Equation block assigns a value to:• a user variable• an indirect variable• certa

Publication GMLC-5.2 - November 1999Contents of this Manual 79Control Settings BlocksThis chapter explains the function and use of the blocks in the C

Publication GMLC-5.2 - November 1999Equation 403• Tag Explorer – Select a variable type from the tree control. The specific variables associated with

Publication GMLC-5.2 - November 1999404 Calculation BlocksTCAM Master Point – Enter a value or expression for the TCam master point, from: 0 to 12,999

Publication GMLC-5.2 - November 1999On Expression 405On ExpressionUse the On Expression block to:• Evaluate a mathematical expression and make a logic

Publication GMLC-5.2 - November 1999406 Calculation BlocksSee the Online Help for information on the Build Table Block Pop-Up Menu and for detailed in

Publication GMLC-5.2 - November 1999Build Table 407Building CAM Time ProfilesA CAM Time profile has two parts: a column of Master Time values (in seco

Publication GMLC-5.2 - November 1999408 Calculation Blocks• 0 to 1,999 for variable arrays using iCODE version 3.0 or later• 0 to 999 for variable arr

Publication GMLC-5.2 - November 1999Chapter21Display and Operator Interface BlocksDisplay and Operator Interface blocks control the display and enteri

Publication GMLC-5.2 - November 1999410 Display and Operator Interface BlocksPrint to DisplayUse the Print to Display block to display messages and va

Publication GMLC-5.2 - November 1999Print to Display 411Unless you select Force to Port (see below), the message goes to the serial port currently con

Publication GMLC-5.2 - November 1999412 Display and Operator Interface BlocksThe available display options are:ASCII TextTo display standard ASCII tex

Publication GMLC- 5.2 - November 19998 Preface23Defining Variable, Constants, and I/OThis chapter describes how to set optional variables, constants,

Publication GMLC-5.2 - November 1999Print to Display 413ExpressionTo display the current value of any variable or expression as part of the message, s

Publication GMLC-5.2 - November 1999414 Display and Operator Interface BlocksEdit ValueUse the Edit Value block to create custom menus that let the op

Publication GMLC-5.2 - November 1999Edit Value 415PromptsThe prompt message may be up to 24 characters long and may contain any legal ASCII character

Publication GMLC-5.2 - November 1999416 Display and Operator Interface BlocksRange LimitingTo limit the range of values that the operator can enter fo

Publication GMLC-5.2 - November 1999Toggle Choice 417When the Toggle Choice block executes, a prompt message appears on the operator interface (either

Publication GMLC-5.2 - November 1999418 Display and Operator Interface BlocksEntering ChoicesTo define the choices, enter the desired text for the fir

Publication GMLC-5.2 - November 1999Abort Editing 419Abort EditingUse the Abort Editing block during multitasking to perform a controlled interrupt of

Publication GMLC-5.2 - November 1999420 Display and Operator Interface BlocksKey Input ControlUse the Key Input block to:• Control the serial port buf

Publication GMLC-5.2 - November 1999On Key Press 421Clearing the Input BufferSelecting Clear Input Buffer from the Type menu immediately clears the in

Publication GMLC-5.2 - November 1999422 Display and Operator Interface BlocksWait for KeyThe Wait for Key type pauses the program until serial port B

Publication GMLC-5.2 - November 1999Contents of this Manual 937Initializing Your Motion Controllerthis chapter tells you how to initialize the hardwar

Publication GMLC-5.2 - November 1999On Key Press 423Checking for Any KeySelecting Any Key, with If Key selected, causes program flow to branch to the

Publication GMLC-5.2 - November 1999424 Display and Operator Interface BlocksWaiting for a Specific KeySelecting Specific Key, with Wait for Key selec

Publication GMLC-5.2 - November 1999Configure Auto Display 425Configure Auto DisplayUse the Configure Auto Display block to enable and configure up to

Publication GMLC-5.2 - November 1999426 Display and Operator Interface BlocksField LegendsEach field in the runtime display has an associated label, o

Publication GMLC-5.2 - November 1999Configure Auto Display 427When a given axis status is displayed, any status condition of lower priority can also b

Publication GMLC-5.2 - November 1999428 Display and Operator Interface BlocksAll faults—global, system or axis—are displayed as a text message as show

Publication GMLC-5.2 - November 1999Configure Auto Display 429PHS FLT Phase Loss Fault ✔PRG FLT Application Program Memory Fault✔PWR FLT Power Fault ✔

Publication GMLC-5.2 - November 1999430 Display and Operator Interface Blocks

Publication GMLC-5.2 - November 1999Chapter22Miscellaneous BlocksMiscellaneous blocks, given their varying functionality, do not fit into the categori

Publication GMLC-5.2 - November 1999432 Miscellaneous BlocksNative CodeYou can use the Native Code block to directly enter iCODE (the native language

Publication GMLC- 5.2 - November 199910 PrefaceRockwell Automation SupportRockwell Automation offers support services worldwide.Local Product SupportC

Publication GMLC-5.2 - November 1999Call Module 433When you add a New Module to a diagram, that New Module instantaneously appears in the Diagram Expl

Publication GMLC-5.2 - November 1999434 Miscellaneous BlocksTo avoid very complex diagrams, do not use the Call Module Block unless the application ab

Publication GMLC-5.2 - November 1999Remote Control 435MultidropMultidrop is a communications scheme that allows multiple motion controllers to communi

Publication GMLC-5.2 - November 1999436 Miscellaneous BlocksRemote Controller AddressSelect the address of the desired slave motion controller from th

Publication GMLC-5.2 - November 1999Remote Control 437If the current value of the requested expression cannot be represented using the specified respo

Publication GMLC-5.2 - November 1999438 Miscellaneous Blocks

Publication GMLC-5.2 - November 1999Chapter23Defining Variables, Constants, and I/OThe Tag Explorer and the Tag Window provide areas in which to view

Publication GMLC-5.2 - November 1999440 Defining Variables, Constants, and I/OYou can view the values assigned to system variables in the Tag Window.

Publication GMLC-5.2 - November 1999Defining a User Variable/Constant 4412.Defining a User Variable/ConstantA variable or constant is a memory locatio

Publication GMLC-5.2 - November 1999442 Defining Variables, Constants, and I/O1. In the Tag Explorer, select User Variable. The User Variables categor

Publication GMLC-5.2 - November 1999About the GML Commander Software Application 11About the GML Commander Software ApplicationGML Commander uses the

Publication GMLC-5.2 - November 1999Defining a User Variable/Constant 4433. Select New. The User Variable dialog box appears.Note: Use the same varia

Publication GMLC-5.2 - November 1999444 Defining Variables, Constants, and I/O5. With the user variables displayed in the Tag Window:Note: You can so

Publication GMLC-5.2 - November 1999Defining Flex Inputs and Outputs 445Defining Flex Inputs and OutputsYou can connect up to eight separate Flex I/O

Publication GMLC-5.2 - November 1999446 Defining Variables, Constants, and I/O5. Select Flex I/O from the Configure menu to access the Modules menu.6.

Publication GMLC-5.2 - November 1999Defining Flex Inputs and Outputs 4477. In the Type field, select an input, output, or combo valueNote: Some value

Publication GMLC-5.2 - November 1999448 Defining Variables, Constants, and I/O8. Select OK. The type of input, output, or combo value appears as a sub

Publication GMLC-5.2 - November 1999Defining Flex Inputs and Outputs 4493. Select New. The Flex I/O dialog box appears.

Publication GMLC-5.2 - November 1999450 Defining Variables, Constants, and I/O4. Make entries in the following fields:5. Select OK. The value appears

Publication GMLC-5.2 - November 1999Defining I/O for RIO, SLC, AxisLink, or DH-485 451To create input and output values:1. In the Tag Explorer, select

Publication GMLC-5.2 - November 1999452 Defining Variables, Constants, and I/O2. Select the Tag Window with the right mouse button. The variable shor

Publication GMLC- 5.2 - November 199912 Prefacewant. Clicking an item in the list highlights your selection.• Sometimes you can select several values

Publication GMLC-5.2 - November 1999Defining I/O for RIO, SLC, AxisLink, or DH-485 4534. Make the appropriate entries in fields for the selected inter

Publication GMLC-5.2 - November 1999454 Defining Variables, Constants, and I/OUsing the General Watch FunctionYou use the General Watch function to gr

Publication GMLC-5.2 - November 1999Using the General Watch Function 4553. Select Watch. The selected variable, input or output displays in the Genera

Publication GMLC-5.2 - November 1999456 Defining Variables, Constants, and I/O

Publication GMLC-5.2 - November 1999Chapter24User Variables and ConstantsThe Expression Builder lets you use defined user variables, constants, and lo

Publication GMLC-5.2 - November 1999458 User Variables and Constants

Publication GMLC-5.2 - November 1999Chapter25The Expression BuilderThe Expression Builder is a specialized calculator for constructing mathematical ex

Publication GMLC-5.2 - November 1999460 The Expression BuilderNote: The value currently in the field appears in the Expression Builder’s Expression

Publication GMLC-5.2 - November 1999The Numeric Keypad 461PrecedenceAll expression operators have equal precedence in an expression. This means that e

Publication GMLC-5.2 - November 1999462 The Expression BuilderContinuing with the previous example, these two expressions do produce the same result—

Publication GMLC- 5.2 - November 1999ii Table of ContentsNaming a Module ... 25Printing ...

Publication GMLC-5.2 - November 1999Chapter1GML Commander OverviewGML, the exclusive Graphical Motion Control Language from Allen-Bradley, provides a

Publication GMLC-5.2 - November 1999Expression Operators 463There are three kinds of GML Commander expression operators:• Mathematical — Combines the

Publication GMLC-5.2 - November 1999464 The Expression BuilderSubtraction -Use the minus sign (or dash) to subtract two elements. For example, the fo

Publication GMLC-5.2 - November 1999Expression Operators 465Exponentiation ^Use the caret to raise an element to a power. For example, the following e

Publication GMLC-5.2 - November 1999466 The Expression Builder100@60The integer remainder is useful to calculate the fractional part when one element

Publication GMLC-5.2 - November 1999Expression Operators 467Bitwise NOT ~Use the tilde to complement all the bits in a binary value. Technically, this

Publication GMLC-5.2 - November 1999468 The Expression BuilderFor example, if Input_Group is defined to consist of inputs 2 - 5, in the following exp

Publication GMLC-5.2 - November 1999Expression Operators 469Specifically, if inputs 2 - 5 are currently in the following states, the expression above

Publication GMLC-5.2 - November 1999470 The Expression BuilderRelational OperatorsUse relational operators to make numerical and logical comparisons,

Publication GMLC-5.2 - November 1999Expression Operators 471The first expression evaluates to 1 (true) if the sum of the cut length variable and 10 eq

Publication GMLC-5.2 - November 1999472 The Expression BuilderThis result is exactly opposite from that obtained when the equal sign is used.Greater

Publication GMLC-5.2- November 199914 GML Commander OverviewHow it WorksGML Commander uses a natural, flowchart-oriented approach to motion control pr

Publication GMLC-5.2 - November 1999System Variables 473Less Than or Equal to <= Use a less-than sign followed by an equal sign to determine if one

Publication GMLC-5.2 - November 1999474 The Expression Builder Because all system variables are strings of standard ASCII characters, you can type th

Publication GMLC-5.2 - November 1999Chapter26Motion VariablesMotion variables let you use values, such as axis position and velocity as elements in an

Publication GMLC-5.2 - November 1999476 Motion VariablesThe following figure shows where in the servo loop the motion variables are monitored. In this

Publication GMLC-5.2 - November 1999477Actual PositionActual_Position is the current absolute position of a physical or virtual axis (in the position

Publication GMLC-5.2 - November 1999478 Motion VariablesCommand PositionCommand_Position is the desired or commanded position of a physical axis or th

Publication GMLC-5.2 - November 1999479In the Tag Explorer, select both Axis System Variables and the desired axis, then select Strobed_Position from

Publication GMLC-5.2 - November 1999480 Motion VariablesThe accuracy of the registration position value, saved as a result of a registration event, is

Publication GMLC-5.2 - November 1999481There are 42 separate soft registration position variables, one for each of the four physical axes, the two vir

Publication GMLC-5.2 - November 1999482 Motion VariablesNote that the calculated uncertainty is the maximum error in the direction in which the axis i

Publication GMLC-5.2 - November 1999Understanding Your Workspace 15Titles have been added to the example below to identify the different functional ar

Publication GMLC-5.2 - November 1999483The Passively Home Axis and Calculate Position Change module included in the GML Commander Module Library under

Publication GMLC-5.2 - November 1999484 Motion VariablesEncoder Filter LagEncoder_Filter_Lag is used to observe the effect of the Encoder Input Filter

Publication GMLC-5.2 - November 1999485Average VelocityAverage_Velocity is the current speed of a servo, master only or virtual axis. It is measured i

Publication GMLC-5.2 - November 1999486 Motion VariablesThe average velocity of the imaginary axis is always zero, because the imaginary axis has no a