User guide

Chapter 1. Programming Fundamentals 9
Program Editor
1. Create program file(s) and save to disk.
2. Download files via the terminal emulator.
3. Repeat steps 1 & 2 to edit the code.
Terminal Emulator
• Communicate directly with the controller.
• Download files containing complete 6000
programs or stand-alone 6000 commands.
• Check system status responses.
• Upload programs from the controller to disk.
2. Define a program. Type in the commands as shown in the Editor window below. The Editor window also shows
program comments to help you understand the purpose of each command and the implications
of executing motion. Notice that the comments are placed after the comment delimiter (;).
NOTE: This is a programming example for single-axis motion. When programming
multiple axes, you would use the additional command fields. For example, the command for
setting the acceleration on axes one and two to 12 units/sec
2
and axes three and four to 25
units/sec
2
would be A12,12,25,25; and setting axes one and two to preset positioning
mode and axes three and four to continuous positioning mode requires the MCØØ11 command.
The program is deleted (DEL EXAMPL) before it is
defined; this is done to avoid program errors and
unexpected motion when downloading the program
to the controller.
Make a habit of deleting before defining.
Program definition begins with the Begin Program
Definition (DEF) command followed by a program
name of ≤ 6 characters (e.g., DEF EXAMPL).
The End Program Definition (END) command ends
the program definition.
All buffered commands that you enter after DEF
and before END will be executed when the program
is run.
Use these
commands:
DEL EXAMPL
DEF EXAMPL
DRIVE1
MC0
MA0
LH3
(or LH0)
A25
AD25
V5
D8000
GO
END
All text between the comment delimiter (;) and the
carriage return are considered “program comments.”
The warning at the beginning of this program file
comprises 8 lines of comments.