User guide

Overview iii
Product Name References (What’s in a Name?)
This document sometimes uses one product name to reference an entire subset of the 6000
family (e.g, “AT6n50” refers to the AT6450 and the AT6250; “AT6n00” refers to the AT6200
and the AT6400). Unless otherwise noted, references to a standard product are applicable to the
OEM version as well (e.g., AT6400 and OEM-AT6400; 6200 and OEM6200).
Before You Begin
Before you begin to implement the 6000 controller's features in your application you should
complete the items listed below.
• Complete all the installation and test procedures provided in your 6000 product's
Installation Guide.
• If you are using a servo control product, complete the tuning procedures. If you are using
Servo Tuner, use the instructions in the Servo Tuner User Guide. If you are using
an empirical tuning method (not Servo Tuner), refer to the procedures provided in the
Tuning appendix of the product's Installation Guide.
• Keep the 6000 Series Software Reference close at hand to answer questions about
specific 6000 Series commands. If you are new to the 6000 Series Programming
Language, read Chapter 1 (Programming Fundamentals) thoroughly.
Support Software
These software development tools are available to help you program your 6000 Series product.
• Motion Architect, and these add-on modules:
- Servo Tuner (tuning and data capture)
- CompuCAM (CAD-to-Motion)
• Motion Builder (graphical icon-based programming software)
• Motion Toolbox (Motion VIs for LabVIEW)
• DOS Support Software
Motion Architect
®
All 6000 Series products are shipped with Motion Architect, an intuitive Microsoft
®
Windows™
based programming tool. A brief description of Motion Architect's basic features is provided
below. For more detailed user information, refer to the Motion Architect User Guide.
• System Configurator and Code Generator: Automatically generate controller
code of basic system set-up parameters (I/O definitions, feedback device operations, etc.).
• Program Editor: Create blocks or lines of 6000 controller code, or copy portions of
code from previous files. You can save program editor files for later use in BASIC, C,
etc., or in the terminal emulator or test panel.
• Terminal Emulator: Communicating directly with the 6000 controller, the terminal
emulator allows you to type in and execute controller code, transfer code files to and from
the 6000 product. If you are using a bus-based 6000 controller, you can use this module
to transfer (download) the soft operating system.
• Test Panel and Program Tester: You can create your own test panel to run your
programs and check the activity of I/O, motion, system status, etc. This can be invaluable
during start-ups and when fine tuning machine performance.
• On-line Context-sensitive Help and Command Reference: These on-line
resources provide help information about Motion Architect, as well as interactive access
to the contents of the 6000 Series Programmer's Guide (this document) and the
6000 Series Software Reference.
• Dynamic Link Libraries: DLL device drivers are provided for bus-based controller
customers who wish to create a Windows-based application to interface with the controller.