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Table Of Contents

•Prerequisite knowledge
Prerequisite Knowledge
Who Should Use this Manual
Purpose of this Manual
Where to Find Help
Using the Manual Set
Using Online Help
Using the Optional Novice Mode
Related Documentation
Color Code for Blocks
A Module
Testing Your Diagram
Naming a Block 25
Naming a Block
Naming a Module
Printing a Diagram
Diagram Scaling
•Defining a diagram’s configuration settings
Defining a Diagram’s Configuration Settings
Using the Settings from an Existing Diagram
Selecting Settings for a New Diagram
Setting Control Options
Setting General Control Options
Setting the Axes 35
Setting the Axes
Setting the Serial Port Interface 37
Setting the Serial Port Interface
To set the serial port interface:
Setting the Flex I/O 39
Setting the Flex I/O
Defining Flex I/O
Setting the Smart Power Options
Setting Optional Configurations
Configuring Your Remote I/O Interface
RIO Configuring Your Remote I/O Interface
Configuring the RIO
Configuring Your CNET Interface 49
Configuring Your CNET Interface
Configuring Your SLC Interface 51
Configuring Your SLC Interface
Configuring the AxisLink Interface
Configuring the DH-485 Interface
Configuring the Multidrop Interface
Copying an Existing Axis Configuration
To Configure an Axis With the Axis Use Screens
Physical Axis
Axis Type
Position Mode
Drive Interface Module Axis
Defining Units
Position Units
Position Display Format
Velocity Display Format
Defining Feedback 65
Acceleration and Deceleration Display Format
Defining Feedback
Transducer Type
Transducer Loss Detection
Transducer Resolution
Conversion Constant (K)
Unwind Constant
Unwind Fraction
Unwind Reference Point
Encoder Filter
Filter Bandwidth
Filter Lag Limit
Defining Position
Velocity Profile
S Curve
Lock Tolerance
Average Velocity Timebase
Defining Homing
Active Homing
Homing Without a Limit Switch or Marker
Homing to a Limit Switch
Homing to an Encoder Marker
Homing to a limit Switch and Marker
Homing Speed
Return Speed
Absolute Homing
Assembly Part #
Turns Range
Absolute Serial
Defining Overtravel
Hard Travel Limits
Limit Switches
Soft Travel Limits
Maximum Positive
Maximum Negative
Defining Servo
Velocity Axis
Drive Fault Input
Control Output Limit
Defining Motor/Drive
Drive Type
Motor ID
Optimizing Velocity & Torque Limit Settings
Velocity Limit (RPM)
Torque Limit(% Rated)
Motor Thermal Fault Input
Defining Fault Action
Disable Drive:
Stop Motion:
Status Only:
Hard Overtravel
Soft Overtravel
Position Error
Verifying Hookups 93
Drive Fault
Motor Thermal
Transducer Noise
Transducer Loss
Verifying Hookups
Test Increment
Motor/Encoder Test
Performing the Motor/Encoder Test
Transducer Polarity
Control Output Polarity
Marker Test
How to perform the Marker test
Align Absolute Device
How to Align an Absolute Device
Drive Offset
The Drive Offset Test
Pulse Magnitude
Pulse Duration
Pulse Type
Battery Box Test
How to perform the Battery Box test
Tune Servo
Tuning Your 1394
Tuning Your Compact
Tuning Your Integrated/Basic
Defining Gains
Proportional Gain
Integral Gain
Velocity Feedforward Gain
Velocity Gain
Velocity P Gain
Velocity Filter Bandwidth
Deadband Compensation
Adjusting Gains Values for the Servo Axis 111
Adjusting Gains Values for the Servo Axis
Equalizing the Working and Set-up Gains Values
Adjusting Gains
Running your Program
Defining Dynamics 115
Defining Dynamics
Maximum Speed
Maximum Acceleration
Maximum Deceleration
Error Tolerance
Adjusting Dynamics Values for the Servo Axis 117
Adjusting Dynamics Values for the Servo Axis
Equalizing the Working and Set-up Dynamics Values
Adjusting Dynamics
Applying Axis Configuration Changes
Controller Icon
Upload button
Download button
Configuring the Imaginary Axis
Using the Imaginary Axis in GML 125
Using the Imaginary Axis in GML
Imaginary Axis Applications 127
Imaginary Axis Applications
Selecting and Positioning Blocks
The Function Block Palettes
Manipulating Blocks 137
Manipulating Blocks
Using the Cursor
Connecting Blocks
Moving Blocks
Showing the Connection Lines
Disconnecting Blocks
Making Changes to Your Diagram 141
Making Changes to Your Diagram
Selecting All
Copying a Block
Swapping Blocks
Aligning Blocks
Spacing Blocks
Snapping to the Grid 145
Snapping to the Grid
Accessing Block Information
Accessing from the Diagram
Accessing from the Edit menu
Creating a Diagram
Building a New Diagram
Use Preexisting Modules to Create Diagrams
Finding a Specific Block or Parameter
Displaying Diagram Information 153
Displaying Diagram Information
Documenting Your Diagram
Diagram Title Page
Testing Diagrams
Translating a Diagram into Program Script
Accessing the Online Manager 157
Accessing the Online Manager
Inserting a Breakpoint
Creating a Module
Using the Main Palette
Using the Diagram Explorer
Encapsulating Blocks
Duplicating an Existing Module
Recursive Duplicate Modules
Unencapsulating the Module
Viewing the Contents of a Module 165
Viewing the Contents of a Module
Viewing Module Contents Using Expand
Collapsing Modules
Viewing Module Contents In the Diagram Explorer
Splitting the Diagram Window
Displaying Module Information
Documenting a Module
Translating a Diagram to Script
Successful Translation to Script
Handling Unsuccessful Translations
Editing a Script
Motion Settings
Loop Error
Unit Settings
Using the Servo Output Limit
Setting the Motion Profile
Setting the Maximum Speed
Setting the Maximum Acceleration
Setting the Maximum Deceleration
Change Gain
Gain Values
Direct Drive Control 183
Direct Drive Control
Using the Direct Drive Control Block
Reset Fault
Redefine Position
Absolute Mode
Relative Mode
Actual Position
Command Position
Synchronizing Redefine Position Blocks
Control Settings
Power-Up Values
Working Values
Tag Explorer
Tag Window
Data Parameters
Data Bits
Home Axis
Configured Homing
Passive Homing
Wait for Completion
Synchronized Homing
Move Axis
Absolute Moves
Changing the Endpoint of Absolute Moves
Absolute Moves on Rotary Axes
Incremental Moves
Changing the Move Distance
Incremental Moves with Gearing
Incremental Moves on Rotary Axes
Phase Shift Moves
Rotary Shortest Path Moves
Rotary Positive Moves
Rotary Negative Moves
Override Profile
Merged Moves
Current Speed
Programmed Speed
Synchronizing Moves
Jog Axis
Merged Jogs
Synchronize with next Jog Axis
Gear Axes
Virtual Master Axes Gearing
Imaginary Axis Gearing
Slaving to Actual Position
Slaving to Command Position
Same Direction Gearing
Opposite Direction Gearing
Reversing the Gearing Direction
Set Ratio
Real Number Gear Ratios
Fraction Gear Ratios
Ramping to Master Speed
Synchronizing Gearing on Multiple Axes
Using the Gear Axes Block
Changing Master Axes
Moving While Gearing
Interpolate Axes
Linear Interpolation
Timed Linear Interpolation
Radius Arc Circular Interpolation
Bad Arcs
Intermediate Arc Circular Interpolation
Example 4: Intermediate Arc Incremental Mode
Full Circles
Helical Interpolation
Example 8: Helical Interpolation in Incremental Mode
Merging Interpolated Motion
Change Dynamics
Changing Move Dynamics
Pausing Moves
Changing Jog Dynamics
Analog Offset
Calculating the Analog Input Scalar
Analog Offset Control Loop Operation
Programming an Analog Offset Function
Configure Cam
Cam Start and End Points
Configuring Time Lock Cams
Configuring Position Lock Cams
Configuring Pending Position Lock Cams
Auto Correction (Configure Cam)
Phase Shift and Incremental Auto-Correction
Absolute Auto-Correction
Absolute (Target) Position
Relative Auto-Correction
Nominal Length
Last Registration
Absolute Ratioed Auto-Correction
Relative Ratioed Auto-Correction
Master Axis
Registering Axis
Hard Registration
Soft Registration
Auto-Correction Speed
No-Correction Zone
Time Lock CAM
Selecting a Time Lock Cam Direction
Positive Direction
Negative Direction
Merge from Jog
Synchronizing Time Lock Cams on Multiple Axes
Scaling Time Lock Cams
Position Lock CAM
Virtual Master Axes
Position-Lock Cams and the Imaginary Axis
Slaving to the Actual Position
Slaving to the Command Position
Selecting a Position-Lock Cam Direction
Camming in the Same Direction
Camming in the Opposite Direction
Reversing the Camming Direction
Master Reference Position
Unidirectional Position-Lock Cams
Scaling Position-Lock Cams
Moving While Camming
Disable Position Lock CAM
Stopping the PCAM Smoothly
Disable Gearing
Stopping Gearing Smoothly
Stop Motion
Kill Control
Stopping All Motion
Output CAM
Camming to the Imaginary Axis
Camming to Actual Position
Camming to Command Position
Defining the Window
Actuation Delay
Require OFF to ON Transition
Require ON to OFF Transition
Input Class
On Axis
Wait for Axis and Multitasking
If Axis and Multitasking
Feedback On
Gearing Off
Gearing On
Gearing Opposite
Homing / Homing Done
Interpolating / Interpolating Done
Jogging/Jogging Done
Merge Pending / Merging Done
Moving / Moving Done
Output Limited
Watch Control
Wait for Tripped
Windowed Registration
Auto Rearm Input
Registration on Virtual Axes
Disarm Registration
Enable Watch Position Event/Action
Event Action Computations
Handling Faults in GML Commander
Multitasking Operation
Task Control
Start New Task
Stop Current Task
Stop Other Task
Resume Task
Stop Dispatcher
Restart Dispatcher
On Task
If Task
Wait for Task
Show Axis Position
Show Axis Status
Show Input Status
Show Program Status
Specific Task Status
Runtime Fault Status
Show Firmware ID
Show Memory Status
Setup Data
Application Program
Program Size
Virtual Axis Control
Wait for Linked
Read Remote Value 361
Read Remote Value
User Variable Type
Data Type
Data Bits and Data Parameters
Reset AxisLink Fault
Show RIO Status
Wait for RIO Status
If RIO Status
RIO Status Conditions
Non-Recoverable Fault
Non-Recoverable Fault Red
Recoverable Error
Wait for RIO Block Transfer
If RIO Block Transfer
Auto RIO Update
Auto Binary Numeric Format
Fixed Binary Numeric Format
Auto BCD Numeric Format
Fixed BCD Numeric Format
Reset RIO
On CNET Status
Wait for CNET Status Type
If CNET Status
Show CNET Status
Reset CNET
Show DH-485 Status
Show Status
Show Where Is
DH-485 Value
Read Type
Send Type
Specifying the Remote Element Indirectly
Specifying the Remote Element Directly
Using Bit Masks
Multiple Variables
Wait for Message Complete
DH-485 Message Details
On DH-485 Status
If DH-485
Wait for DH-485
Reset DH-485 Fault
Show SLC Status
On SLC Status
Wait for SLC Status Type
Program Status
Run Status
Fault Status
If SLC Status
Interrupt SLC
Master/Slave CAM Position types
Master CAM Time type
Indirect Variable
Inhibiting Resampling
On Expression
Wait for Expression
If Expression
Build Table
Building CAM Position Profiles
Building CAM Time Profiles
Building Variable Arrays
Starting Offset
Print to Display
Force to Port
Suppress Auto CR/LF
Selecting the Display
Formatted Expression
Edit Value
Value Display Format
Range Limiting
Toggle Choice
Entering Choices
Editing the Choices
Abort Editing
Refresh Display
Key Input Control
Clearing the Input Buffer
Getting the Next Key
Getting the Previous Key
On Key Press
Wait for Key
If Key
Waiting or Checking for the Next Key
Waiting or Checking for Any Key
Checking for Any Key
Waiting for Any Key
Waiting or Checking for a Specific Key
Checking for a Specific Key
Waiting for a Specific Key
Checking or Waiting for an ASCII Code
Checking for ASCII Code
Waiting for ASCII Code
Configure Auto Display 425
Configure Auto Display
Configuring Runtime Display Fields
Field Legends
Native Code
New Module
Call Module
Remote Control
Remote Controller Address
Expression to Query
Response Format
Specifying the Serial Port
Destination Page
Understanding System Variables
Example of How to Display a System Variable
Defining a User Variable/Constant 441
Defining a User Variable/Constant
Defining Flex Inputs and Outputs 445
Defining Flex Inputs and Outputs
Creating Flex I/O Values
Defining I/O for RIO, SLC, AxisLink, or DH-485
Using the General Watch Function
Inputs and Outputs
Calculation Accuracy
The Numeric Keypad
( ) Parentheses
[ ] Brackets
Expression Operators
Mathematical Operators
Addition +
Subtraction -
Multiplication *
Division /
Exponentiation ^
// Integer Quotient
Integer Remainder @
Logical Operators
Bitwise NOT ~
Bitwise AND &
Bitwise OR |
Boolean NOT !
Boolean AND &&
Boolean OR ||
Relational Operators
Equal to =
Not Equal to !
Greater Than >
Less Than <
Greater Than or Equal to >=
Less Than or Equal to <=
System Variables
Strobed Position
Registration Position
Soft Registration Position
Marker Distance
Distance To Go
Deceleration Distance
Encoder Filter Lag
Watch Position
Average Velocity
Command Velocity
Servo Output Level
Analog Offset Setpoint
Analog Offset Error
PCAM Auto Correction Distance To Go
PCAM Registration Error
PCAM Average Registration Error
PCAM Good Registration Count
PCAM Missing Registration Count
Bad Registration Count
Axis Iq Reference 1394
Axis It Limit 1394
Axis Velocity Command 1394
Axis Torque Command 1394
Analog Inputs
Free Running Clock
Last Keypress (Character)
Current Task
CPU Utilization
CPU Utilization Peak
Controller Address
AxisLink Configuration Nodes
Global Fault
CNET Fault
CPU Utilization Overrun Fault
Feedback Device Fault
Flex Fault
SLC Fault
DH-485 General Fault
RIO Fault
AxisLink Timeout Fault
AxisLink General Fault
Setup Data Memory Fault
Application Program Memory Fault
Axis Global Faults
Axis Fault
AxisLink Timeout
AxisLink Failed
Drive Fault / Motor Thermal 1394
Position Error Fault
Hardware Overtravel Fault
Software Overtravel Fault
Encoder Noise Fault
Encoder Loss Fault
Flex Fault
Flex Fault Code
AxisLink Fault Code
Timeout Accessing Data
Timeout Accessing Output
Error Accessing Controller
Runtime Fault
Stack Fault
Fault Ring Error 1394
Commission Error 1394
DSP Error 1394
Flex I/O Missing or Failed
Insufficient Time (Linear Interpolation)
Bad Arc (Circular Interpolation)
Attempt to Access Unknown AxisLink Device
No Tasks Running
Attempt to Access Locked Memory
Illegal Direct Command
Illegal Command While Program Running
Illegal Command While In Overtravel
Illegal Command With Feedback OFF
Illegal Command With Feedback ON
RIO Fault Code
Initialization Failure
Setup Failure
9 Initialization Failure
8 Setup Failure
7 Setup Failure
Failed Getting Inputs
Failed Sending Outputs
Scanner Failure
Failed Getting Data
Failed BTW Request
Failed Sending BTR
CNET Fault Code
Plug Fault
Media Fault
Incorrect Network Configuration
Incorrect Node Configuration
DH-485 Fault Code
Command Failed
4 Command Failed
Response Timeout
Transaction ID Mismatch
Bad Command
DSP Feedback Fault 1394
SLC Fault Code
Resolver Loss Fault 1394
Drive Hard Fault 1394
Axis Module Hard Fault 1394
System Module Hard Fault 1394
Axis Power Fault 1394
Axis Bus Loss Fault 1394
Axis Motor Over Temp Fault 1394
Axis Drive Over Temp Fault 1394
Axis It Fault 1394
System Bus Over Voltage Fault 1394
System Bus Under Voltage Fault 1394
System Over Temp Fault 1394
System Control Power Fault 1394
System Phase Loss Fault 1394
System Ground Fault 1394
System Smart Power I Limit Fault 1394
System Smart Power Pre-Charge Fault 1394
Axis Status
Acceleration Status
Deceleration Status
Encoder Filter Lag Saturation Status
Feedback Status
Homing Status
Jog Status
Lock Status
Move Status
Gearing Status
Registration Status
Time Lock Cam Status
Position Lock Cam Status
Position Lock Cam Profiling Status
Position Lock Cam Pending Profile Status
Position Lock Cam Auto-Correction Status
Watch Position Status
Output Limit Status
AxisLink Status
Interpolator Status
Interpolator Acceleration Status
Interpolator Deceleration Status
Interpolator Merging Status
System Bus Up 1394
Status LEDs
RIO Status
CNET Status
SLC Status
SLC MO Update Request
SLC M1 Update Acknowledge
SLC M1 Update Request
DH-485 Status
Axis I Limit Status 1394
Axis It Limit Status 1394
System Module Fault Status 1394
Axis Module Fault Status 1394
System Smart Power I Limit Status 1394
System Smart Power Shunt It Disable 1394
System Smart Power Shunt Timeout Status 1394
Analog Test Output 0 1394
Analog Test Output 1 1394
Axis Count 1394
System kw 1394
System Rated Current 1394
Axis kw 1394
Axis Rated Current 1394
Axis Bridge I Limit 1394
Axis Current Scaling 1394
System Smart Power Bus Voltage 1394
System Smart Power PIC Software Version 1394
Motion Controller Functions
Indirect DH-485 Variable
Indirect SLC M0 Float Variable
Indirect SLC M0 Integer Variable
Indirect SLC M1 Float Variable
Indirect SLC M1 Integer Variable
RIO Adapter Variable
RIO Scanner Variable
Task Status
Miscellaneous Inputs
Axis Input
RIO Input
RIO Scanner Input
SLC Bit Input
AxisLink Input
Flex I/O Input
Flex I/O Analog Input
Slave Cam Position
Absolute Value
Arc Cosine
Arc Sine
Arc Tangent
Round Up
Round Down
Integer Value
Natural Logarithm
Square Root
Virtual Axes
AxisLink I/O
Getting Started
Connecting the AxisLink Cable
Setting the AxisLink Addresses
Enabling AxisLink in GML Commander
Configuring Virtual Axes 659
Configuring Virtual Axes
Example of a virtual axis configuration
Using Virtual Axes
Homing Virtual Axes
Virtual Axis System Variables
Using AxisLink I/O 667
Using AxisLink I/O
AxisLink Outputs
AxisLink Inputs
Configuring AxisLink Inputs
Defining AxisLink Inputs
Reading Values via AxisLink
Handling Faults
•Virtual axis faults
Virtual Axis Faults
AxisLink General Faults
AxisLink Fault Handling Module
Performance Considerations 679
Performance Considerations
Discrete Transfers
Block Transfers
RIO Addressing
Connecting the RIO Cable
Configuring the RIO Adapter
Enabling RIO in GML Commander
Using the Dedicated Discrete Inputs 687
Using the Dedicated Discrete Inputs
Homing Axes
Jogging Axes
Stopping Motion with Kill Control
Running and Stopping the Program
Pausing and Resuming the Program
Using the Dedicated Discrete Outputs
Axis Locked
Axis Faults
Application Program Running
Application Program Runtime Fault
Illegal Command in Block Transfer
Using Block Transfers
Sending Data to the Motion Controller
Getting Data from the Motion Controller
Constructing the PLC Data File
First Data Item
Number and Format of Items
32-bit Integer Format
16-bit Integer Format
32-bit Signed BCD Format
32-bit Floating Point Format
Word-Swapped 32-bit Integer Format
Word-Swapped 32-bit Signed BCD Format
Word-Swapped 32-bit Floating Point Format
Sending or Getting User Variable Values
Sending or Getting Data Parameter Values
Sending or Getting Data Bit Values
Sending or Getting Cam Table Values
Getting System Variable Values
Fault and Status Codes
Enabling the CNET Interface in GML Commander
To enable the CNET interface in GML Commander:
Defining Inputs and Outputs 755
Defining Inputs and Outputs
Defining the I/O Configuration
To define the I/O Configuration:
Defining Input Bits
Defining Input Floats
Defining Input Group Bits
Defining Local Variables
Defining Output Bits
Defining Output Floats
Defining Output Group Bits
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Published by: sicramh on Oct 27, 2011
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