User guide
Index
249
master/slave daisy-chain 72, 74
mathematical operations 19
maximum acceleration (steppers) 216
maximum position error
establishing 99
output to indicate when exceeded
118
maximum velocity (steppers) 216
memory
allocation 12
compiled motion 163
contouring 153
cleared on bad checksum 33
expanded (-M option) 13
locking 15, 116
non-volatile 33
status 13
menus, RP240 133
messages, error 236
Microsoft ASSEMBLY 5.1 38
Microsoft C 6.0 38
Microsoft QuickBASIC 4.5 38
motion
Following motion status 194
motion control concepts ii
parameters used in conditional
expressions 25
pre-compiled profiles,
see compiled
motion
restrictions while in Following 222
rough 223
synchronize
conditional GOs 186
registration 182
triggered conditional GOs 186
triggered start of master cycle 186
with PMAS 210
Motion Architect iii, 2
manual is on web (
www.compumotor.com) ii
programming scenario 8
servo tuner option 99
setup program tool 14
Motion Builder iv
Motion OCX Toolkit 62, 144
Motion Toolbox 144
motor
dithering 101
fault, status (610n) 233
inductance setting 82
motor step mode (ENCĂ) 95
position 26
capture 112
static torque setting 82
stiction 101
move completion criteria 105
moving/not moving status 117, 233
multi-drop, RS-485 75
multiple serial ports, controlling 70
N
negative-direction end-of-travel limits,
see limits, end-of-travel
neutral characters 5
no function input 109
noise, electrical,
see installation guide
numeric variables 18
in conditional expression 25
NWHILE 28
O
OCX toolkit 62, 144
on conditions (program interrupts) 29
effect on system performance 33
on-line help for Windows 2
on-line manuals ii
on-the-fly motion changes 87, 178
compare with compiled motion 169
one-to-one program select input 115
operating system, downloading
from DOS 39
errors 243
from Motion Architect iii
LED status 230
problems 230
operator interface
create your own GUI 144
host computer program 143
RP240 remote panel 130
operators
assignment & comparison 6
used in cond. expressions 24
bit select 7
bitwise 8
logic 8
math 8
relational 8
output buffer
output-buffer-has-data interrupt 68
prevent from filling up (reading) 42
output on position 119
output ring buffer 68
outputs 107
activate on position 116, 119
ANA 142
bit patterns 107
configuration 116
contouring path 160
fault output 118
limit encountered 118
maximum position error exceeded
118
moving/not moving (in position) 117
OUT-A 119
OUT-B 119
OUT-C 119
OUT-D 119
program in progress 118
programmable 106, 128
bit pattern 107
enable functions (OUTFEN),
effect on system
performance 33
function assignments 116
operand (OUT) 25
polarity 106
problems 231
simulating activation 240
status 106, 117, 136
update rate 106
shutdown 126
stall indicator 118
update rate 106
P
P axis, contouring 153, 154, 159
participating axes 79
for contouring 154
partitioning memory 12
PASCAL program, downloading from 40
password, RP240 137
paths
(see contouring)
pause active, status 233
pause key on RP240 130
pause, effect on Following motion 222
pause/continue input 111
effect on motion & program
execution 17
PC-AT interrupts 63
programmable input function 114
performance, effects on 33
performance, Following 193
phase, shift 201
status 201
phase, tracking 218
PLC interface 130
application example 127
point-to-point move 88
polarity
ANI inputs 100
commanded direction
causes reversed direction 229
servos 101
steppers 97
encoder
servos 100
steppers 97
feedback device, servos 100
LDT 100
programmable I/O 106
position
absolute 88
establish with PSET 88
accuracy, Following 217
ANI 136, 142
capture 112
capture 112
encoder 233
motor 233
registration 182
commanded 136
capture 112
commanded position calculation,
Following 215
dynamic position maintenance 216
effect on accuracy 218
encoder 26, 136
capture 112
error 136, 216, 229
exceeded max. limit
status 233
max. allowable 99, 126
incremental 88
LDT 26, 136
read error 234
master,
see master
motor 26
capture 112
position maintenance, steppers 95
positioning modes 87
change on the fly 87, 178
sampling period 193
effect on Following accuracy 217
slave 201
status via RP240 136
used to activate output 119
zeroed after homing 91