User guide

Chapter 1. Programming Fundamentals 7
* denotes operators that
have a correlated status
display command.
(e.g., To see a full-text
description of each axis
status bit accessed with
the AS operator, send
the TASF command to
the 6000 controller.)
See page 232.
A........... Acceleration
AD ......... Deceleration
ANI........ Voltage at the ANI analog inputs (servos with ANI option) *
ANV........ Voltage at the joystick analog channels *
AS ......... Axis status *
ASX........ Extended axis status (additional axis status items) *
CA ......... Captured ANI analog input voltage *
CNT........ Counter value (steppers only) *
D........... Distance
DAC........ Digital-to-analog converter (output voltage) value (servos only) *
DAT........ Data program number
DPTR ...... Data pointer location *
DREAD .... Data from the numeric keypad on the RP240 (stand-alone products only)
DREADF... Data from the function keypad on the RP240 (stand-alone products only)
ER ......... Error status *
FB ......... Position of current selected feedback sources *
FS ......... Following status *
IN ......... Input status (input bit patterns provided in Chapter 3, page 107) *
INO........ “Other” input status (joystick inputs, and P-CUT or ENBL input) *
LDT........ Position of the LDT (hydraulic servos only) *
LIM........ Limit status (end-of-travel limits and home limits) *
MOV........ Axis moving status
NMCY ...... Current master cycle number *
OUT........ Output status (output bit patterns provided in Chapter 3, page 107) *
PANI ...... Position of ANI analog input, at 819 counts/volts unless otherwise scaled (servos) *
PC ......... Commanded position (servos only) *
PCA........ Captured ANI input position (servos with ANI option only) *
PCC........ Captured commanded position (servos only) *
PCE........ Captured encoder position *
PCL........ Captured LDT position (hydraulic servos only) *
PCM........ Captured motor position (steppers only) *
PE ......... Position of encoder *
PER........ Position error (n/a to OEM-AT6400) *
PM ......... Position of motor (steppers only) *
PMAS ...... Current master cycle position *
PSHF ...... Net position shift since constant following ratio *
PSLV ...... Current commanded position of the slave axis *
READ ...... Read a numeric value to a numeric variable (VAR)
SEG........ Number of segments available in Compiled Profile memory *
SS ......... System status *
TIM........ Timer value *
TW ......... Thumbwheel data read
US ......... User status *
V........... Velocity (programmed)
VAR........ Numeric variable substitution
VARB ...... Binary variable substitution
VEL........ Velocity (commanded by the controller) *
VELA ...... Velocity (actual, as measured by a position feedback device) *
VMAS ...... Current velocity of the master axis *
Bit Select
Operator
The bit select operator (.) makes it easier to base a command argument on the condition of one
specific status bit. For example, if you wish to base an IF statement on the condition that a
user fault input is activated (error status bit #7 is a binary status bit that is “1” if a user fault
occurred and “Ø” if it has not occurred), you could use this command: IF(ER=bxxxxxx1).
Using a bit select operator, you could instead use this command: IF(ER.7=b1).
Side Note: You can use a bit select operator to set a particular status bit (e.g., to turn on
programmable output #5, you would type the OUT.5-1 command; to enable error-checking
bit #4 to check for drive faults, you would type the ERROR.4-1 command). You can also
check specific status bits (e.g., to check axis 2's axis status bit #25 to see if a target zone
timeout occurred, type the 2TAS.25 command and observe the response).
Binary and Hex
Values
When making assignments with or comparisons against binary or hexadecimal values, you
must precede the binary value with the letter “b” or “B”, and the hex value with “h” or “H”.
Examples: IF(IN=b1xØ1) and IF(IN=h7F). In the binary syntax, an “x’ simply means
the status of that bit is ignored. Refer also to Using Binary Variables (page 22).