User guide

10 6000 Series Programmer's Guide
3. Download the
program.
FIRST: Before you can download the program, you
must save it to your hard drive (select File/Save in the
Editor). The file is saved with a “.PRG” extension. In
the Save dialog box, name the file “EXAMPL.PRG”.
Follow these steps to download the program file to the
controller:
1. Power up the controller. Notice the power-up
message (like the one shown below) display in your
terminal emulator window.
Save the program first (Editor).
2. From the Transfers menu in the Terminal window,
select Send Motion Program(s). From the dialog box,
select the EXAMPL.PRG file and click OK. The first
time you download the file, you will see two messages
display: “*UNDEFINED LABEL” and ”DELEXAMPL”
(on subsequent downloads of the same file, you would
instead see the message “NO ERRORS”).
Download the program (Terminal).
TIP: If the controller is executing a program when you try to download a program
file, the program(s) from the program file will not download and the contents of the
program(s) will be displayed to the terminal emulator window. To prevent this error,
“kill” program execution (and motion) before downloading the program file — use
the !K command or the ctrl/K command (ctrl/K is an easier keystroke combination).
3. To verify that the EXAMPL program resides in the controller's memory, type the TDIR
command and press the carriage return or enter key.
Power-up message for the ZETA6104
controller.
Messages for first-time download
(subsequent download will yield the
message “NO ERRORS”).
The TDIR status command yields a
3-line response. The first line shows
the the EXAMPL program resides in
memory and uses 50 bytes. The
second line shows the status of
memory available for program
storage (this is where EXAMPL is
stored). The third line shows the
status of memory available to store
compiled motion profiles (programs
compiled with the PCOMP command).