User guide

240 6000 Series Programmer's Guide
Single-Step Mode
The Single-Step mode allows you to execute one command at a time. Use the STEP
command to enable Single-Step mode. To execute a command, you must use the !# sign.
By entering a !# followed by a delimiter, you will execute the next command in the sequence.
If you follow the !# sign with a number (n) and a delimiter, you will execute the next n
commands. The Single-Step mode is demonstrated below (using the programs from the Trace
mode above).
Step 1
Enable the Single-Step Mode:
STEP1 ; Enables Single Step Mode
Step 2
Enable the Trace Mode and begin execution of program prog1:
TRACE1 ; Enables the Trace mode
RUN prog1 ; Run program called prog1
Step 3
Execute one command at a time by using the !# command:
!# ; Executes one command
The response will be:
*PROGRAM=PROG1 COMMAND=A10.0000
Step 4
To execute more than one command at a time, follow the !# sign with the number of
commands you want executed:
!#3 ; Executes three commands
The response will be:
*PROGRAM=PROG1 COMMAND=AD10.0000
*PROGRAM=PROG1 COMMAND=V5.0000
*PROGRAM=PROG1 COMMAND=L3
To complete the sequence, use the # sign until all the commands are completed (!#16 would
complete the example).
Step 5
To exit Single-Step mode, type:
STEP0 ; Disables Single Step Mode
Simulating I/O Activation
If your application has inputs and outputs that integrate the 6000 controller with other
components in your system, you can simulate the activation of these inputs and outputs so
that you can run your programs without activating the rest of your system. Thus, you can
debug your program independent of the rest of your system.
There are two commands that allow you to simulate the input and output states desired. The
INEN command controls the inputs and the OUTEN command controls the outputs.
Servo Products
The INEN command has no effect on the trigger inputs (TRG-A through TRG-D) when they are
configured as trigger interrupt (position latch) inputs with the INFNCi-H command.
The OUTEN command has no effect on the auxiliary outputs (OUT-A through OUT-D) when
they are configured as output-on-position outputs with the OUTFNCi-H command.
You will generally use the INEN command to cause a specific input pattern to occur so that a
program can be run or an input condition can become true. Use the OUTEN command to
simulate the output patterns that are needed, and to prevent an external portion of your system
from being initiated by an output transition. When you execute your program, the OUTEN
command overrides the outputs and holds them in a defined state.