User guide

Chapter 3. Basic Operation Setup
Before You Begin................................................... 78
Setup Parameters Discussed in this Chapter......... 78
Using a Setup Program...................................... 79
Motion Architect .............................................. 79
Resetting the Controller..................................... 79
Participating Axes.................................................. 79
Memory Allocation.................................................. 80
Drive Setup........................................................... 80
Drive Fault Level.............................................. 80
Drive Resolution (steppers only) ......................... 81
Step Pulse (steppers only)................................. 81
Start/Stop Velocity (steppers only)...................... 82
Disable Drive On Kill (servos only)....................... 82
ZETA610n Internal Drive Setup........................... 82
Axis Scaling.......................................................... 83
When Should I Define Scaling Parameters?........... 83
Acceleration & Deceleration Scaling
(SCLA and PSCLA)..................................... 84
Velocity Scaling
(SCLV and PSCLV)..................................... 84
Distance Scaling
(SCLD and PSCLD)..................................... 85
Scaling Examples ............................................ 86
Positioning Modes.................................................. 87
Preset Positioning Mode.................................... 88
Continuous Positioning Mode ............................. 89
End-of-Travel Limits ............................................... 90
Homing ................................................................ 91
Closed-Loop Stepper Setup (steppers only) ................ 95
Encoder Resolution.......................................... 95
Encoder Step Mode.......................................... 95
Position Maintenance ....................................... 95
Position Maintenance Deadband......................... 95
Stall Detection & Kill-on-Stall.............................. 96
Stall Deadband................................................ 96
Encoder Set Up Example................................... 96
Use the Encoder as a Counter ............................ 96
Encoder Polarity.............................................. 97
Commanded Direction Polarity............................ 97
Servo Setup.......................................................... 98
Tuning ........................................................... 99
Feedback Device Polarity................................ 100
Commanded Direction Polarity.......................... 101
Dither .......................................................... 101
DAC Output Limits.......................................... 102
Servo Control Signal Offset.............................. 102
Servo Setup Examples.................................... 103
Target Zone Mode ................................................ 105
Programmable Inputs and Outputs (including triggers and
auxiliary outputs)............................................. 106
Programmable I/O Bit Patterns ......................... 107
Input Functions ............................................. 108
Output Functions........................................... 116
Variable Arrays (teaching variable data) ................... 120
Basics of Teach-Data Applications.................... 120
Summary of Related 6000 Series Commands....... 122
Teach-Data Application Example....................... 122
Chapter 4. User Interface Options
Safety Features .................................................. 126
Options Overview (application examples)................. 127
Stand-Alone Interface Options......................... 127
Programmable Logic Controller......................... 127
Host Computer Interface................................. 127
Custom Graphical User Interfaces (GUIs)........... 127
Programmable I/O Devices.................................... 128
Programmable I/O Functions............................ 128
Thumbwheels................................................ 129
PLCs........................................................... 130
RP240 Remote Operator Panel............................... 130
Configuration................................................ 131
Operator Interface Features ............................ 131
Using the Default Menus ................................. 132
Joystick and Analog Inputs ................................... 138
Joystick Control............................................ 138
Feedrate Override
(multi-axis steppers only) ....... 141
ANI Analog Input Interface
(products with ANI option) . 142
Auxiliary Analog Output (“half axis” — AT6n50 only) ... 142
Host Computer Interface....................................... 143
Graphical User Interface (GUI) Development Tools..... 144
Chapter 5. Custom Profiling
S-Curve Profiling (servos only)............................... 146
Timed Data Streaming (bus-based steppers only)....... 148
Time-Distance Streaming Example.................... 149
Linear Interpolation.............................................. 152
Contouring (Circular Interpolation)........................... 153
Path Definition .............................................. 153
Participating Axes ......................................... 154
Path Acceleration, Deceleration, and Velocity..... 155
Segment End-point Coordinates ....................... 155
Line Segments.............................................. 156
Arc Segments............................................... 157
Segment Boundary ........................................ 158
Using the C Axis (4-axis products only).............. 159
Using the P Axis (4-axis products only).............. 159
Outputs Along the Path................................... 160
Paths Built Using 6000 Series Commands........... 160
Compiling the Path......................................... 160
Executing the Path ........................................ 161
Possible Programming Errors........................... 161
Programming Examples .................................. 161
Compiled Motion Profiling ...................................... 163
Compiled Following Profiles.............................. 166
Dwells and Direction Changes .......................... 168
Compiled Motion Versus On-The-Fly Motion ........ 169
Related Commands........................................ 169
Compiled Motion — Sample Applications ............ 170
On-the-Fly Motion (pre-emptive GOs) ...................... 178
OTF Error Conditions...................................... 179
OTF Sample Application.................................. 180
Registration........................................................ 182
Registration Move Accuracy............................ 182
Preventing Unwanted Registration Moves........... 182
Registration Move Status & Error Handling.......... 183
How to Set up a Registration Move .................... 183
Registration – Sample Applications ................... 184
Synchronizing Motion........................................... 186
Conditional “GO”s (GOWHEN).......................... 186
Trigger Functions (TRGFN) .............................. 189