User guide

250 6000 Series Programmer's Guide
positive-direction end-of-travel limits,
see limits, end-of-travel
potentiometer, joystick 138
power-up start program (STARTP) 15
clear RP240 menus 132
Following setup commands 195
will not execute 230
pre-emptive GOs,
see on-the-fly motion
prediction of master position, see
master, master position prediction
preset positioning mode 88
Following 200, 219
distance calculations 220
priority levels, PC-AT interrupts 64
product naming convention iii
profiling, custom 145
program
branch
conditionally 24
unconditionally 23
buffer 9
comments 3, 5
debug tools 231
definition 9
download from Motion Architect 10
editing in Motion Architect 2, 11
error handling 30
error responses 236
examples, using ii
execution
controlling 16
from Motion Architect 11
from RP240 menu 134
options 14
status 233
flow control 23
interrupts 29
labels ($) 23
loop
conditionally 24
unconditionally 23
memory allocation 12
power-up program 15
program development scenario 8
programming guidelines 1
saving to disk 10
security 15
setup (configuration) program 14
storage 12
program in progress 118
programmable inputs,
see inputs,
programmable
programmable outputs, see outputs,
programmable
programming
ASSEMBLY language iv
BASIC language iv
C language iv
contouring errors 161
contouring examples 161
debug tools 231
debugging via RP240 134
defining a program 9
develop your own DOS application
program 42
downloading programs
errors 243
from DOS 39
from Motion Architect iii, 10
programming
(continued)
edit in Motion Architect 11
error messages 236
error programs 32, 126
examples, using ii
executing programs
from Motion Architect 11
options 14
languages
DOS Support Disk sub-
directories 38
samples 38
PASCAL language iv
preparing to program iii
program development scenario 8
program security 116
program selection
BCD 110
debounce time 110
one-to-one 115
sample programs on DOS support
disk 38
sample programs provided ii
saving programs to disk 10
set-up program 14, 79
skills required ii
storing programs 12
proportional axis, contouring 153, 154,
159
pulse width 81
effect on contouring 154
effect on streaming 149
pulse-cut input
as safety feature 126
status 233
R
radius specified arcs 157
radius tolerance specifications 157
ratio of slave to master 198
status 193
reading
from the AT6nnn 50
inputs and outputs 106
thumbwheel data 129
output buffer 42
reentrance 64
reference documentation ii
registers
communication 43
fast status 43
hardware 96
registration 182
effect on Following 222
sample application 184, 185, 186
status 183
related documentation ii
relational operators 25
REPEAT 24
repeatability, Following
position sampling rate 217
sensors 219
trigger inputs 219
resetting the controller 79
via the RP240 137
resolution
drive 81
effect on Following 221
encoder 95
joystick 138
master 217
slave 217
responses, error 236
restart master cycle counting 113,
189, 208
restricted commands during motion 18
return procedure 244
revision levels (product, DSP & RP240)
137
ring buffers 68
rollover of master cycle position 207,
209, 223
rough Following motion 223
RP240 130
access security, password 137
application example 127
COM port setup 71, 131
connection verified 233
data read 26
front panel description 130
in daisy chain 74
menu structure 133
send text via the connector 131
RS-232C communication
daisy-chaining 72
RP240 connector 131
RS-485 multi-drop 75
runaway motor 231
S
safety features 126
sample programs ii
saving programs to disk 10
scaling 83, 87
acceleration & deceleration 84
distance 85
effect on system performance 33
master 196
slave 196
velocity 84
security, program 15, 116
segment boundary 158
segment, definition of 13
serial ports, controlling 70
servo
data gathering, status 233
sampling rate, effect on system
performance 33
setup 98
code examples 103
tuning 99
updates rates,
see change
summary
Servo Tuner™ iv, 2, 99
set-up commands 78
set-up program 14, 79
bus-based controllers 15
stand-alone controllers 15
settling time, actual 105
shift
continuous 201
preset 201
status 193, 201