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958
Publication GMLC-5.2 - November 1999
676
Usi
ng Axis
Link
The Handle
V
irtual
Axis Fau
lts module
checks for
a timeout
or failu
re on
both vir
tual
axes. The fa
ulty axis
is disa
bled, the f
ault is
cleared,
and the
virtua
l axis
re-enabl
ed as s
hown below
.
1
2
...
708
709
710
711
712
713
714
715
716
717
718
...
957
958
GML Commander
1
Important User Information
2
European Communities (EC)
3
Directive Compliance
3
Preface
4
Table of Contents iii
6
Table of Contents v
8
Table of Contents vii
10
Chapter 10 – Motion Blocks
12
..............246
14
...........247
14
Table of Contents xiii
16
Chapter 14 – Status Blocks
18
Chapter 15 – AxisLink Blocks
18
Chapter 16 – RIO Blocks
18
Chapter 17 – CNET Blocks
19
Chapter 18 – DH-485 Blocks
19
Chapter 19 – SLC Blocks
20
Table of Contents xix
22
Table of Contents xxi
24
Chapter 28 – Fault Variables
25
Table of Contents xxiii
26
Chapter 29 – Status Variables
27
Table of Contents xxv
28
Table of Contents xxvii
30
Table of Contents xxix
32
Chapter 40 – Going Online
34
Chapter 41 – CPU Utilization
35
Appendix C – ASCII Reference
36
Prerequisite Knowledge
38
Who Should Use this Manual
39
Purpose of this Manual
39
Where to Find Help
39
Using the Manual Set
40
Using Online Help
40
Related Documentation
41
Glossary
42
Contents of this Manual
43
Rockwell Automation Support
47
12 Preface
49
GML Commander Overview
50
How it Works
51
Understanding Your Workspace
51
16 GML Commander Overview
53
18 GML Commander Overview
55
Understanding the Tag Window
56
Script Editor Window
57
Understanding Your Tools
58
Main Toolbar
59
Diagrams and Blocks
60
Block Palettes
60
Color Code for Blocks
60
Testing Your Diagram
61
Naming a Block
62
Naming a Module
62
Printing
63
Printing a Diagram
64
Diagram Scaling
64
28 GML Commander Overview
65
Configuring Control Options
66
Setting Control Options
68
Setting the Axes
72
Setting the Flex I/O
76
Defining Flex I/O
77
Setting the Flex I/O 41
78
Configuring the RIO
84
Configuring Axis Use
96
60 Configuring Axis Use
97
Physical Axis
99
Axis Type
100
Position Mode
100
Drive Interface Module Axis
100
Defining Units
101
Defining Feedback
102
Transducer Resolution
103
Unwind Constant
104
Unwind Fraction
105
Unwind Reference Point
105
Encoder Filter
106
Defining Position
107
Velocity Profile
108
Jerk Accel
109
Velocity
109
Defining Position 73
110
Parabolic
111
Lock Tolerance
112
Backlash
112
Defining Homing
113
Position
114
Procedure
114
Active Homing
115
Homing to a Limit Switch
115
Homing to an Encoder Marker
116
Direction
116
Absolute Homing
117
Passive Homing
118
Defining Overtravel
119
Hard Travel Limits
120
Limit Switches
120
Soft Travel Limits
120
Maximum Positive
120
Defining Servo
121
Velocity Axis
122
Drive Fault Input
122
Defining Motor/Drive
123
Motor ID
124
88 Configuring Axis Use
125
Velocity Limit (RPM)
126
Torque Limit(% Rated)
126
Defining Fault Action
127
Disable Drive:
128
Stop Motion:
128
Status Only:
128
Hard Overtravel
129
Soft Overtravel
129
Position Error
129
Verifying Hookups
130
94 Configuring Axis Use
131
Test Increment
132
Motor/Encoder Test
132
Transducer Polarity
133
Control Output Polarity
133
Marker Test
133
Align Absolute Device
134
Drive Offset
135
The Drive Offset Test
135
Pulse Magnitude
136
Pulse Duration
136
Pulse Type
136
Battery Box Test
137
Tune Servo
138
102 Configuring Axis Use
139
Tune Servo 103
140
Tuning Your Compact
141
Tune Servo 105
142
Tuning Your Integrated/Basic
143
Defining Gains
144
Proportional Gain
145
Integral Gain
146
Velocity Feedforward Gain
146
Velocity Gain
146
Velocity P Gain
146
Velocity Filter Bandwidth
146
Deadband Compensation
147
Adjusting Gains
148
112 Configuring Axis Use
149
Running your Program
151
Defining Dynamics
152
Maximum Speed
153
Maximum Acceleration
153
Maximum Deceleration
153
Error Tolerance
153
Adjusting Dynamics
154
118 Configuring Axis Use
155
120 Configuring Axis Use
157
Controller Icon
158
Upload button
158
Download button
158
122 Configuring Axis Use
159
Using the Imaginary Axis
160
124 Using the Imaginary Axis
161
126 Using the Imaginary Axis
163
Imaginary Axis Applications
164
128 Using the Imaginary Axis
165
130 Using the Imaginary Axis
167
132 Using the Imaginary Axis
169
134 Using the Imaginary Axis
171
Working with Blocks
172
The Function Block Palettes
173
Manipulating Blocks
174
Connecting B
175
Moving Blocks
176
Showing the Connection Lines
176
Disconnecting Blocks
176
140 Working with Blocks
177
Selecting All
178
Copying a Block
178
Swapping Blocks
179
Aligning Blocks
180
Spacing Blocks
181
Snapping to the Grid
182
Accessing Block Information
182
Accessing from the Edit menu
183
• Calculation blocks
184
• Miscellaneous blocks
184
148 Working with Blocks
185
Working with Diagrams
186
150 Working with Diagrams
187
Creating a Diagram 151
188
152 Working with Diagrams
189
Documenting Your Diagram
191
Diagram Title Page
191
Testing Diagrams
192
156 Working with Diagrams
193
Accessing the Online Manager
194
Inserting a Breakpoint
195
Working With Modules
196
Using the Diagram Explorer
197
Creating a Module 161
198
Encapsulating Blocks
199
Recursive Duplicate Modules
200
Unencapsulating the Module
201
Collapsing Modules
203
Splitting the Diagram Window
205
Displaying Module Information
207
Documenting a Module
207
Documenting a Module 171
208
172 Working With Modules
209
Working with Program Scripts
210
Editing a Script
212
Control Setting Blocks
214
Feedback
215
Motion Settings
216
Unit Settings
217
Using the Servo Output Limit
217
Setting the Motion Profile
218
Setting the Maximum Speed
218
Change Gain
219
Direct Drive Control
220
Reset Fault
221
Reset Fault 185
222
Redefine Position
223
Relative Mode
224
Actual Position
224
Command Position
225
Control Settings
226
Working Values
227
Tag Explorer
228
Tag Window
228
Data Parameters
228
Data Bits
228
192 Control Setting Blocks
229
Motion Blocks
230
Home Axis
232
Configured Homing
233
Wait for Completion
234
Synchronized Homing
234
Move Axis
235
Move Axis 199
236
Absolute Moves
237
Incremental Moves
238
Phase Shift Moves
239
Move Axis 203
240
Rotary Shortest Path Moves
241
Move Axis 205
242
Rotary Positive Moves
243
Rotary Negative Moves
243
Override Profile
244
Merged Moves
244
Synchronizing Moves
245
Jog Axis
246
Merged Jogs
247
Gear Axes
248
Virtual Master Axes Gearing
249
Imaginary Axis Gearing
249
Slaving to Actual Position
249
Slaving to Command Position
250
Same Direction Gearing
251
Opposite Direction Gearing
251
Set Ratio
252
Ramping to Master Speed
253
Gear Axes 217
254
Using the Gear Axes Block
255
Moving While Gearing
256
Interpolate Axes
257
Interpolators
258
Linear Interpolation
259
Interpolate Axes 223
260
Timed Linear Interpolation
261
Interpolate Axes 225
262
226 Motion Blocks
263
Interpolate Axes 227
264
Bad Arcs
265
230 Motion Blocks
267
Interpolate Axes 231
268
232 Motion Blocks
269
Full Circles
270
234 Motion Blocks
271
Helical Interpolation
272
236 Motion Blocks
273
Interpolate Axes 237
274
238 Motion Blocks
275
Merging Interpolated Motion
276
240 Motion Blocks
277
Change Dynamics
280
Analog Offset
281
Analog Input Scalar =
282
mode, the motor transducer
283
Configure Cam
284
Cam Start and End Points
285
Configuring Time Lock Cams
286
250 Motion Blocks
287
Configure Cam 251
288
252 Motion Blocks
289
Configure Cam 253
290
254 Motion Blocks
291
Absolute Auto-Correction
292
256 Motion Blocks
293
Absolute (Target) Position
294
Tolerance
294
258 Motion Blocks
295
Relative Auto-Correction
296
260 Motion Blocks
297
Nominal Length
298
Last Registration
299
264 Motion Blocks
301
Master Axis
303
Registering Axis
303
Auto-Correction Speed
304
268 Motion Blocks
305
No-Correction Zone
306
Time Lock CAM
307
Positive Direction
308
Negative Direction
308
Merge from Jog
309
Scaling Time Lock Cams
310
Position Lock CAM
311
Virtual Master Axes
313
Position Lock CAM 277
314
Master Reference Position
315
Position Lock CAM 279
316
280 Motion Blocks
317
Scaling Position-Lock Cams
318
282 Motion Blocks
319
Moving While Camming
320
Disable Position Lock CAM
321
Disable Gearing
322
Stop Motion
322
Kill Control
323
Stopping All Motion
324
288 Motion Blocks
325
I/O and Event Blocks
326
Output CAM
328
292 I/O and Event Blocks
329
Camming to the Imaginary Axis
330
Camming to Actual Position
330
Camming to Command Position
330
Defining the Window
331
Actuation Delay
332
296 I/O and Event Blocks
333
Require OFF to ON Transition
335
Require ON to OFF Transition
335
Input Class
336
If Axis and Multitasking
337
Program Pauses
339
Until This Point
339
AxisLinked
341
Decelerated
341
Decelerating
342
Feedback On
343
Gearing Off
343
Gearing On
344
Gearing Opposite
344
Homing / Homing Done
344
Jogging/Jogging Done
345
Merge Pending / Merging Done
347
Moving / Moving Done
347
Output Limited
348
Watch Control
349
Watch Control 313
350
Wait for Tripped
351
Windowed Registration
352
Auto Rearm Input
354
Registration on Virtual Axes
354
Disarm Registration
355
Watch Control 319
356
Event Action Computations
357
Watch Control 321
358
On Watch
359
If Position Event
360
Wait for Registration
360
Set Timer
361
On Timeout
362
If Axis Fault
363
Repeat Loop
365
Program Control Blocks
366
Restart Type
367
When Restart Type
367
Restart Program 331
368
End Program
369
When End or Fault Type
370
Runtime Faults
371
Global Faults
372
336 Program Control Blocks
373
End Program 337
374
338 Program Control Blocks
375
End Program 339
376
340 Program Control Blocks
377
Multitasking Blocks
378
Multitasking Operation
379
Task Control
379
Start New Task
380
344 Multitasking Blocks
381
Stop Current Task
382
Stop Other Task
383
Resume Task
383
Stop Dispatcher
383
Restart Dispatcher
384
Wait for Task
385
Status Blocks
386
Show Axis Position
387
Show Axis Status
387
(I) axes
388
Show Input Status
389
Configured
390
Miscellaneous
390
Show Program Status
391
Specific Task Status
392
Runtime Fault Status
392
Show Firmware ID
392
Show Memory Status
393
Setup Data
394
Application Program
394
Program Size
394
358 Status Blocks
395
AxisLink Blocks
396
Virtual Axis Control
397
Read Remote Value
398
Reset AxisLink Fault
399
Reset AxisLink Fault 363
400
364 AxisLink Blocks
401
RIO Blocks
402
Show RIO Status
403
Wait for RIO Status
404
If RIO Status
404
RIO Status Conditions
405
Wait for RIO Block Transfer
406
If RIO Block Transfer
407
Auto RIO Update
408
Auto Binary Numeric Format
409
Auto RIO Update 373
410
PLC I:046/00 (RIO output 68)
411
Fixed Binary Numeric Format
413
Auto BCD Numeric Format
414
Reset RIO
418
382 RIO Blocks
419
CNET Blocks
420
Wait for CNET Status Type
421
Show CNET Status
422
Reset CNET
423
DH-485 Blocks
424
Show DH-485 Status
425
DH-485 Value
426
Send Type
427
Using Bit Masks
428
Multiple Variables
429
Wait for Message Complete
430
DH-485 Message Details
430
On DH-485 Status
431
If DH-485
432
Wait for DH-485
432
Reset DH-485 Fault
433
SLC Blocks
434
On SLC Status
435
Interrupt SLC
436
400 SLC Blocks
437
Calculation Blocks
438
Equation
439
Master CAM Time type
440
Indirect Variable
441
Inhibiting Resampling
441
On Expression
442
Build Table
442
field in both blocks
443
Building CAM Time Profiles
444
Building Variable Arrays
444
Starting Offset
444
408 Calculation Blocks
445
Print to Display
447
Force to Port
448
Suppress Auto CR/LF
448
Selecting the Display
448
ASCII Text
449
ASCII Code
449
Expression
450
Formatted Expression
450
Edit Value
451
Value Display Format
452
Toggle Choice
453
Entering Choices
455
Editing the Choices
455
Abort Editing
456
Refresh Display
456
Key Input Control
457
On Key Press
458
Wait for Key
459
Checking for Any Key
460
Waiting for Any Key
460
Checking for a Specific Key
460
Waiting for a Specific Key
461
Checking for ASCII Code
461
Waiting for ASCII Code
461
Configure Auto Display
462
Field Legends
463
Miscellaneous Blocks
468
Native Code
469
New Module
469
Call Module
470
Remote Control
471
Multidrop
472
Remote Controller Address
473
Expression to Query
473
Response Format
473
Specifying the Serial Port
474
Destination Page
474
438 Miscellaneous Blocks
475
Creating Flex I/O Values
485
User Variables and Constants
494
The Expression Builder
496
The Numeric Keypad
497
Precedence
498
Expression Operators
499
Mathematical Operators
500
Subtraction
501
Multiplication *
501
Division /
501
// Integer Quotient
502
Logical Operators
503
Bitwise NOT ~
504
Bitwise AND &
504
Bitwise OR
505
&&
506
Relational Operators
507
Equal to =
508
Not Equal to !
508
Greater Than >
509
Less Than <
509
System Variables
510
474 The Expression Builder
511
Motion Variables
512
Strobed Position
515
Registration Position
516
480 Motion Variables
517
Marker Distance
519
Distance To Go
520
Deceleration Distance
520
Encoder Filter Lag
521
Watch Position
521
Average Velocity
522
Command Velocity
523
Servo Output Level
523
Analog Offset Setpoint
523
Analog Offset Error
524
PCAM Registration Error
525
PCAM Good Registration Count
528
492 Motion Variables
529
Bad Registration Count
530
Axis Iq Reference 1394
531
Axis It Limit 1394
532
Axis Velocity Command 1394
532
Axis Torque Command 1394
532
496 Motion Variables
533
Controller Variables
534
Analog Inputs
535
Free Running Clock
535
Last Keypress (Character)
536
Current Task
536
CPU Utilization
537
CPU Utilization Peak
537
Controller Address
537
AxisLink Configuration Nodes
539
Fault Variables
540
Global Fault
542
CNET Fault
543
CPU Utilization Overrun Fault
544
Feedback Device Fault
544
Flex Fault
545
SLC Fault
545
DH-485 General Fault
546
RIO Fault
546
AxisLink Timeout Fault
547
AxisLink General Fault
547
Setup Data Memory Fault
547
Axis Global Faults
548
Axis Fault
549
AxisLink Timeout
549
AxisLink Failed
550
514 Fault Variables
551
Position Error Fault
552
Hardware Overtravel Fault
554
518 Fault Variables
555
Software Overtravel Fault
556
Encoder Noise Fault
558
Encoder Loss Fault
559
Flex Fault
561
Flex Fault Code
561
AxisLink Fault Code
562
Timeout Accessing Data
565
Runtime Fault
566
Stack Fault
568
Fault Ring Error 1394
570
Commission Error 1394
571
DSP Error 1394
572
Flex I/O Missing or Failed
573
538 Fault Variables
575
No Tasks Running
576
Illegal Direct Command
577
542 Fault Variables
579
RIO Fault Code
580
Initialization Failure
581
Setup Failure
581
Failed Getting Inputs
582
Failed Sending Outputs
582
Scanner Failure
582
CNET Fault Code
583
Plug Fault
584
Media Fault
585
DH-485 Fault Code
587
Command Failed
588
DSP Feedback Fault 1394
589
SLC Fault Code
590
Resolver Loss Fault 1394
590
Drive Hard Fault 1394
591
Axis Module Hard Fault 1394
591
System Module Hard Fault 1394
592
Axis Power Fault 1394
593
Axis Bus Loss Fault 1394
594
558 Fault Variables
595
Axis It Fault 1394
597
562 Fault Variables
599
System Over Temp Fault 1394
600
564 Fault Variables
601
System Phase Loss Fault 1394
602
System Ground Fault 1394
603
568 Fault Variables
605
Status Variables
606
Axis Status
608
Acceleration Status
610
Deceleration Status
610
Feedback Status
611
Homing Status
612
Jog Status
612
Lock Status
613
Move Status
614
Gearing Status
615
Registration Status
615
Time Lock Cam Status
616
Position Lock Cam Status
617
Watch Position Status
619
Output Limit Status
620
AxisLink Status
621
Interpolator Status
622
Interpolator Merging Status
623
System Bus Up 1394
623
Status LEDs
624
Program Status
625
RIO Status
625
CNET Status
625
SLC Status
627
SLC_MO_Update_Acknowledge
627
SLC MO Update Request
627
SLC M1 Update Acknowledge
628
SLC M1 Update Request
628
DH-485 Status
628
Axis I Limit Status 1394
629
Axis It Limit Status 1394
629
Axis Module Fault Status 1394
631
596 Status Variables
633
Diagnostic Variables
634
Analog Test Output 1 1394
635
Axis Count 1394
636
System kw 1394
636
System Rated Current 1394
636
Axis kw 1394
637
Axis Rated Current 1394
637
Axis Bridge I Limit 1394
637
Axis Current Scaling 1394
637
602 Diagnostic Variables
639
System Functions
640
Motion Controller Functions
641
Indirect DH-485 Variable
644
RIO Adapter Variable
647
RIO Scanner Variable
648
Task Status
648
Miscellaneous Inputs
650
Axis Input
651
RIO Input
652
RIO Scanner Input
653
SLC Bit Input
654
AxisLink Input
654
Flex I/O Input
655
Flex I/O Analog Input
655
Group Input
656
Optional Masks
657
RIO Group Input
658
RIO Scanner Group Input
659
SLC Bit Group Input
659
AxisLink Group Input
660
Flex I/O Group Input
661
Axis Output
662
RIO Output
663
RIO Scanner Output
664
SLC Bit Output
664
AxisLink Output
665
Flex I/O Output
665
Flex I/O Analog Output
666
Get Firmware
667
Group Output
667
RIO Group Output
668
RIO Scanner Group Output
668
SLC Bit Group Output
669
AxisLink Group Output
670
Flex I/O Group Output
670
Flex I/O Module Type
671
Master Cam Position
672
Master Cam Time
673
Slave Cam Position
673
638 System Functions
675
Mathematical Functions
676
Argument
677
Argument–1
678
644 Mathematical Functions
681
646 Mathematical Functions
683
Round Up
684
Round Down
685
Integer Value
686
Exponent
687
Natural Logarithm
688
Square Root
690
654 Mathematical Functions
691
Using AxisLink
692
Getting Started
693
Connecting the AxisLink Cable
694
658 Using AxisLink
695
Configuring Virtual Axes
696
660 Using AxisLink
697
Configuring Virtual Axes 661
698
Using Virtual Axes
699
Using Virtual Axes 663
700
Homing Virtual Axes
701
Virtual Axis System Variables
703
Using AxisLink I/O
704
AxisLink Inputs
705
Defining AxisLink Inputs
706
Reading Values via AxisLink
707
Handling Faults
709
Virtual Axis Faults
710
AxisLink General Faults
711
Handling Faults 675
712
676 Using AxisLink
713
Handling Faults 677
714
678 Using AxisLink
715
Performance Considerations
716
680 Using AxisLink
717
Using the RIO Adapter Option
718
Block Transfers
719
IMC S Class RIO Adapter
721
Configuring the RIO Adapter
723
Enabling RIO in GML Commander
723
Homing Axes
725
Jogging Axes
727
Axis Locked
736
Application Program Running
738
Using Block Transfers
739
First Data Item
750
Number and Format of Items
751
32-bit Integer Format
752
(Number of Decimal Digits)
753
16-bit Integer Format
758
32-bit Signed BCD Format
762
32-bit Floating Point Format
766
Fault and Status Codes
786
Configuring ControlNet (CNET)
790
Defining Inputs and Outputs
792
Defining Input Bits
794
Defining Input Floats
795
Defining Input Group Bits
797
Defining Local Variables
798
Defining Output Bits
800
Defining Output Floats
801
Defining Output Group Bits
803
Fault Handling
805
1394 GMC Turbo SLC Interface
806
Rack Configurations
807
Understanding M Files
830
Types of M Files
831
Transfer Modes
831
Manual Mode
832
Understanding M Files 797
834
Enabling M File Transfers
836
Understanding M Files 801
838
Interrupts
840
GML Commander Program
841
SLC Program
842
Initializing the Hardware
844
Initializing the Hardware 809
846
Initializing the Software
847
Initializing the Software 811
848
Initializing the Software 813
850
Cams, or Interpolated Motion
856
Interpolated Motion
857
Interpolated Motion 821
858
Interpolated Motion 823
860
Merge From Jog, CAM, or Gear
862
Going Online
866
Accessing Your Controller
869
Running a Program
871
Pausing a Program
872
Stopping a Program
873
Run Program on Power-up
873
Monitoring Program Flow
874
Using Trace
875
Using Auto Step
876
Using Single Step
876
Setting a Breakpoint
877
Clear Breakpoints
878
842 Going Online
879
Upload Options
881
Upload Options 845
882
846 Going Online
883
Upload Options 847
884
Options
885
Understanding CPU Utilization
887
852 CPU Utilization
889
854 CPU Utilization
891
Memory Organization
892
Application Memory
893
Data Memory
893
Working Memory
893
858 Memory Organization
895
Appendix
896
Data Parameters Table
897
D14 Position Units D29.D30 0
899
D97 Revs 0.2 0
904
D7 Volts 5.4 0 (Volts)
904
Data Bits Table
908
Main Palette Blocks 877
914
Main Palette Blocks 879
916
Advanced Palette Blocks
918
Advanced Palette Blocks 883
920
CAM Palette Blocks
921
DH-485 Palette Blocks
922
RIO Palette Blocks
922
SLC Palette Blocks
924
ASCII Reference
926
ASCII Printing Characters
928
892 ASCII Reference
929
Analog offset error 487
930
Analog test output 0 1394 597
930
894 Index
931
Index 895
932
896 Index
933
Lock Tolerance 75
934
898 Index
935
Index 899
936
900 Index
937
Index 901
938
902 Index
939
Index 903
940
904 Index
941
Index 905
942
906 Index
943
Index 907
944
Change Dynamics 243
945
Analog offset setpoint 486
946
910 Index
947
Index 911
948
912 Index
949
Index 913
950
914 Index
951
Index 915
952
916 Index
953
Index 917
954
918 Index
955
Index 919
956
920 Index
957
Back Cover
958
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