User guide

136 6000 Series Programmer's Guide
Status Reports:
I/O, Limits,
Position
IN: 0000_0000_0000_0000_0000_0000_00
OUT: 0000_0000_0000_0000_0000_0000_00
AXIS 1: POS:1 NEG:1 HOME:0
AXIS 2: POS:1 NEG:1 HOME:0 ENABLE:1
CH1,2,3: 1.250 1.250 1.250
AUX,TRG,SEL,VEL,REL: 00000
DISPLAY:
I/O LIMITS JOY POS
COMMAND1,2: +0 +0
FEEDACK1,2: +0 +0
ENCODER1: +0
ANI1,2: +0 +0
LDT1,2: +0 +0
POSITION ERROR:
ERROR1,2: +0.000 +0.000
COMPUMOTOR NNNN MOTION CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
POSITION:
ENC COM ANI LDT ERROR
MOTOR1,2: +0 +0
ENCODER1,2: +0 +0
6270 only
I/O Menu: Bit patterns for programmable inputs (including triggers) and programmable
outputs (including auxiliary outputs) vary by product. Refer to page 107 to find the bit
patterns for your product. As an example, the I/O bit pattern for the 6104 is as follows:
• Input bit pattern (left to right): Bits 1-16 are the general-purpose programmable inputs,
bits 17 & 18 are triggers A and B (TRG-A and TRG-B on the I/O connector).
• Output bit pattern (left to right): Bits 1-8 are the general-purpose programmable outputs,
bit 9 is auxiliary output A (OUT-A on the I/O connector).
LIMITS Menu:
•“POS” refers to the hardware end-of-travel limit imposed when counting in the positive
direction. “NEG” refers to the limit imposed when counting in the negative direction.
•A “1” indicates that the input is grounded, “0” indicates not grounded.
The end-of-travel limits (POS and NEG) must be grounded to allow motion (this is
reversed if the active level is reversed with the LHLVL command).
Steppers: The Pulse Cut input (P-CUT input terminal) must also be grounded before
motion is allowed. When not grounded, step pulses are stopped independent of the
6000 product's microprocessor.
Servos: The Enable input (ENBL input terminal) must also be grounded before motion
is allowed. When not grounded, the analog output is held to zero volts and the
shutdown outputs are activated.
JOY Menu:
• The voltage levels present on the 3 analog channel on the 25-pin D JOYSTICK connector
are listed.
• Also listed is the status of the joystick inputs (“1” indicates that the input is
grounded/low, “0” indicates not grounded). AUX, TRG, SEL, VEL, and REL correspond
respectively to pins 19, 18, 15, 16, and 17 on the JOYSTICK connector.
POS Menu:
• The position values shown are continually updated.
• Steppers: Reports the “MOTOR” position (always zero if in the encoder step mode – ENC1)
Servos: Reports the “COMMAND” position.
• Position values (except for ANI) are subject to the SCLD scaling factor (if scaling is
enabled—SCALE1), PSET offset value, feedback polarity (ENCPOL, ANIPOL and
LDTPOL), and commanded direction polarity (CMDDIR). The ANI reading is always
volts and is not scaled.
• 6270: “POSITION ERROR” = “COMMAND” position - actual (“FEEDBACK”) position.
“FEEDBACK” refers to the feedback device currently selected with the SFB command
(default is LDT).