User guide

88 6000 Series Programmer's Guide
Preset Positioning Mode
A preset move is a point-to-point move of a specified distance. You can select preset moves by
putting the 6000 controller into preset mode (canceling continuous mode) using the MCØ
command. Preset moves allow you to position the motor/load in relation to the previous stopped
position (incremental mode—enabled with the MAØ command) or in relation to a defined zero
reference position (absolute mode—enabled with the MA1 command).
Incremental
Mode Moves
The incremental mode is the controller's default power-up mode (exception: default for the
6270 hydraulic controller is absolute). When using the Incremental Mode (MAØ), a preset
move moves the motor/load the specified distance from its starting position. For example, if
you start at position N, executing the D6ØØØ command in the MAØ mode will move the
motor/load 6,000 units from the N position. Executing the D6ØØØ command again will move
the motor/load an additional 6,000 units, ending the move 12,000 units from position N.
You can specify the direction of the move by using the optional sign + or - (e.g., D+6ØØØ or
D-6ØØØ). Whenever you do not specify the direction (e.g., D6ØØØ), the unit defaults to the
positive (+) direction.
Example SCALE0 ; Disable scaling
MA0 ; Set axis 1 to Incremental Position Mode
A2 ; Set axis 1 acceleration to 2 units/sec/sec
V5 ; Set axis 1 velocity to 5 units/sec
D4000 ; Set axis 1 distance to 4,000 positive units
GO1 ; Initiate motion on axis 1 (move 4,000 positive units)
GO1 ; Repeat the move
D-8000 ; Set distance to 8,000 negative units (return to original position)
GO1 ; Initiate motion on axis 1 (move 8,000 units in negative direction
; and end at its original starting position)
Absolute Mode
Moves
A preset move in the Absolute Mode (MA1) moves the motor/load the distance that you
specify from the absolute zero position. This is the default positioning mode for 6270
hydraulic controller only.
Establishing a Zero Position
One way to establish the zero position is to issue the PSET command when the load is at the
location you would like to reference as absolute position zero (e.g., PSETØ,Ø defines the
current position as absolute position zero for axes 1 and 2).
The zero position is also established when the Go Home (HOM) command is issued, the
absolute position register is automatically set to zero after reaching the home position, thus
designating the home position as position zero.
The direction of an absolute preset move depends upon the motor's/load's position at the
beginning of the move and the position you command it to move to. For example, if the
motor/load is at absolute position +12,500, and you instruct it to move to position +5,000 (e.g.,
with the D5ØØØ command), it will move in the negative direction a distance of 7,500 steps to
reach the absolute position of +5,000.
The 6000 controller retains the absolute position, even while the unit is in the incremental
mode. In steppers, the absolute position can be ascertained with the TPM and PM commands.
In servos, use the TPC and PC commands.
Example SCALE0 ; Disable scaling
MA1 ; Set the controller to the absolute positioning mode
PSET0 ; Set axis 1 current absolute position to zero
A5 ; Set axis 1 acceleration to 5 units/sec/sec
V3 ; Set axis 1 velocity to 3 units/sec
D4000 ; Set axis 1 move to absolute position 4,000 units
GO1 ; Initiate axis 1 move (move to absolute position +4,000)
D8000 ; Set axis 1 move to absolute position +8,000
GO1 ; Initiate axis 1 move (starting from position +4,000, move 4,000
; additional units in the positive direction to position +8,000)
D0 ; Set axis 1 move to absolute position zero
GO1 ; Initiate axis 1 move (starting at absolute position +8,000, move
; 8,000 units in the negative direction to position zero)