User guide

134 6000 Series Programmer's Guide
Running a
Stored Program
PROGRAM/LABEL TO RUN IS: MAIN
FIND ALPHA <- -> TRACE STEP
COMPUMOTOR NNNN MOTION CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
or
PROGRAM/LABEL TO RUN IS: MAIN
FIND ALPHA <- -> TRACE STEP
COMPUMOTOR NNNN MOTION CONTROLLER
ACCESS RUN
After accessing the RUN menu, press F1 to “find” the names of the programs stored in the
6000 product's memory; pressing F1 repeatedly displays subsequent programs in the order in
which they were stored in BBRAM. To execute the program, press the ENTER key.
To type in a program name at the location of the cursor, first select alpha or numeric
characters with the F2 function key (characters will be alpha if an asterisk appears to the right
of ALPHA, or numeric if no asterisk appears). If alpha, press the up (2) or down (8) keys to
move through the alphabet, if numeric, press the desired number key. Press F3 to move the
cursor to the left, or F4 to move the cursor to the right.
Only user programs defined with DEF and END may be executed from this menu. Compiled
profiles (contouring and GOBUF profiles) cannot be executed from this men; they must be
executed from the terminal emulator with the PRUN command, or you can place the PRUN
(name of path) command in a user program and then execute that program from this menu.
When a program is RUN and TRACE is selected (TRACE
*
), the RP240 display will trace all
program commands as they are executed. This is different from the TRACE command in that
the trace output goes to the RP240 display, not to a terminal via the serial port.
HINT: If you wish to
display each command
as it is executed, select
STEP and TRACE and
press the ENTER key to
step through the program.
When a program is RUN and STEP is selected, step mode has been entered. This is similar to
the STEP command, but when selected from the RUN menu the step mode allows single
stepping by pressing the ENTER key. Both RP240 trace mode and step mode are exited
when program execution is terminated.
Jogging
Most 6000 Products: 6270 Only:
COMPUMOTOR NNNN MOTION CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
AXIS 1: L/R AXIS 2: U/D
LO 0.5000 LO 0.5000 EDIT JOG*
or
JOG: CLOSED OPEN
LOOP LOOP
AXIS 1: L/R AXIS 2: U/D
LO 0.5000 LO 0.5000 EDIT JOG*
6270 MOTION CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
You can jog individual axes by pressing the arrow keys on the RP240's numeric keypad.
Pressing an arrow key on the numeric keypad will start motion and releasing the arrow key
will stop motion. The left and right arrow keys correspond to axis #1 negative and positive
direction, respectively. The up and down arrows keys are for axis #2 negative and positive
direction, respectively.
The HI and LO values in the jog menu represent the velocity in units of revs/sec* (or
inches/sec for LDT feedback or volts/sec for ANI feedback). If scaling is enabled, the value is
multiplied by the programmed SCLV value.
To edit the jog velocity* values:
1. Press the F5 function key under EDIT (edit mode indicated with an asterisk).
2. Press the F1 function key to select the HI and LO values (cursor appears under the
first digit of the value selected).
3. Using the numeric keyboard, enter the value desired.
4. Repeat steps 2 and 3 for all values to be changed.
5. Press ENTER when finished editing.
6. To jog with the new velocity values, first press the F6 function key (under JOG) to
enable the arrow keys again.
Jog accel and decel values are specified by the JOGA and JOGAD commands, respectively.