Gem Drive - Programming Guide SERVO DRIVES S. MOTION CONTROL

Gem Drive – Programming Guide ! This is a general manual describing a series of servo amplifiers having output capability suitable for driving AC brushless sinusoidal servo motors. Instructions for storage, use after storage, commissioning as well as all technical details require the MANDATORY reading of the manual before getting the amplifiers operational. Please see GD1 Installation Guide for the installation and the GD1 User Guide for the operation of the amplifier (commissioning, configuration…). Maintenance procedures should be attempted only by highly skilled technicians having good knowledge...

Gem Drive - Programming Guide CINFRANOR SERVO DRIVES & MOTION CONTROL

Gem Drive - Programming Guide

Gem Drive – Programming Guide Chapter 1. Gem Drive Programming 1. Introduction The Gem Drive is the newest INFRANOR product. One of the differences with the former Infranor drive ranges is its programmability. A basic programming language was defined for this purpose. This gives the Gem Drive more autonomy. This programming language is based on IEC 1131-3 syntax. To make system integration easy, Gem Drive offers a comprehensive and powerful high-level application programming interface, as well as our Gem Drive Studio for its setting, tuning and programming. These user friendly software tools...

Gem Drive - Programming Guide Gem Drive Studio is an intuitive Windows® based, Integrated Development Environment (IDE) for developing motion applications. It is dedicated to the newest generation of INFRANOR programmable drives, called Gem Drive. The IDE provides flexible project management environment making the system easy to program. A project is designed in a single entity for all user applications. It is organized by axis. For each axis, the user can setup the drive parameters and, at need, make an application program with an unique software. Gem Drive Studio includes also diagnostic tools...

Gem Drive - Programming Guide The project operations available at these places are as follows: • “File Menu Commands” This pull-down menu lets you handle or create a new project, as well as to handle source files for axis programming. • “Edit Menu Commands” This pull-down menu provides the user with all what he needs when editing source files. • “View Menu Commands” This pull-down menu includes some helpful commands for the program editor. • “Program Menu Commands” This pull-down menu allows the user to handle a user program, to control its building, loading and then executing and monitoring....

Gem Drive – Programming Guide 3.1. File Menu Commands The GDS File Menu is shown in Figure 3-2. By using this menu, the user can create a new program file, open an existing one or save file changes. He can also open a list of files by using a drag-anddrop method applied to files dragged e.g. from a Windows Explorer and dropped on Gem Drive Studio. Create a new file Open an existing file Close the edited file Save the modified file Save the current file to a new file name Export the edited file to html format Print the selected file Direct access to most recently opened files Exit GDS Figure 3-2:...

Gem Drive – Programming Guide 3.2. Edit Menu Commands The Gem Drive Studio environment Edit Menu provides most standard windows edit commands. The Edit contains the commands that appear in Figure 3-3: Reverse previous edit operation Reverse undo operation Move selected text to the clipboard Copy selected text to the clipboard Paste clipboard text into the file Select all text in document Find text and place bookmarks Find next occurrence of text Find previous occurrence of text Find and replace text Move the cursor to a text line Toggle (add or remove) bookmark Go to next bookmark Go to previous...

Gem Drive - Programming Guide This dialog box allows the user to set the “Find What” text, case sensitivity and search direction features for the Find command. The “Wrap Around” selection lets the user wrap around the end of the file. The user can also set bookmarks by using the “Mark All” command. This lets the user mark all instances of text, wherever they occur, in his code (see explanation below). The “Replace“ command (Ctrl H) is used to replace a specified text with a given one. Regular expressions are non-alphabetic characters that are used to control a search in Find/Replace operations...

Gem Drive – Programming Guide The “Go To Line“ command (Ctrl G), is used to move the cursor to the specified line and/or column number in the active document window. This is helpful when searching, for example, an error line after a program compilation. Figure 3-6 : Goto line dialog box. Using Bookmarks Bookmarks allows marking instances of text wherever they occur in the code. The user defines bookmarks by using the “Toggle Bookmark” in the Edit Menu or with the “Find” dialog box, “Mark All” button (see above). For instance, if the user wants to see every instance where he uses MyVar in his...

Gem Drive - Programming Guide This menu provides all programming commands for the selected axis. I Progr IOpen the Programming Tool View the user variables window Add Files to the user program Remove the selected file Build the user program Configure the output window Configure the file editor The “Programming Tool“ command opens the Programming tool window while the “User Names Viewer Tool“ command is used to view user variables window (see more information in section 5). “Add Files“ and “Remove File“ commands have to be used for adding/removing files to/from the user program. To remove a file,...

Gem Drive – Programming Guide Figure 3-10: GDS File Editor Setting. 3.5. Autocompletion Autocompletion displays a list box showing likely identifiers based upon the user's typing. Autocompletion is launched by pressing “Ctrl+Space”. The user chooses the currently selected item by pressing the tab or return key. The pop-up list will be then cancelled and the selected text from the autocompletion list will be inserted at the file cursor position. The autocompletion list contains all language keywords, drive parameters and user variable names that the user can insert into the selected file. Remember...