User guide
Index
251
shift left to right (>>) 22
shift right to left (<<) 22
shutdown 126
LED status 230
on kill 82, 111
side-by-side editor and terminal 2
simulating analog input voltages 242
single-shot registration 182, 185
single-step mode 134, 240
status 233
slave
commanded position 201
Following error 215
conditional go 186
definition of 194
distance
move calculations 220
scaling 196
motor/drive accuracy 217
move profiles 199
ratio to master 198
status 193
resolution 217
scaling 196
shift,
see shift
soft limit,
see limits, end-of-travel
space (neutral character) 5
square-wave signal (dither) 101
stall deadband 96
stall detection 96
stall indicator output 118
stand-alone operation 127
start-up program (STARTP) 15
examples for servos 103
include setup parameters 79
problems 230
start/stop velocity 82
statistics, controller config, status 232
status
absolute position 88
assigned to binary variable 19
axis 135, 136
extended 233
relative to Following 222
command error 238
commands
diagnostics related 232
list of 235
compiled motion 164
error conditions 234
fast status registers 43
Following 193, 234
GOWHEN 187
inputs 108, 136
enable (ENBL) 233
pulse cut (P-CUT) 233
joystick inputs 136, 233
LEDs 230
limits 136, 233
master cycle number (TNMCY) 209
master cycle position (TPMAS) 209
motion 25, 233
OTF profiling conditions 179
outputs 117, 136
pause 233
position 234, 235
captured 112, 233
RP240 display 136
program execution 233
status
(continued)
registration 183
RP240 displays 135, 136
setup parameters, basic 78
statistics (TSTAT) 232
system 135, 136, 233
wait 233
step output pulse width 81
stiction 101
stop
assigned input function 89
effect on Following motion 221
effect on program execution 17, 111
stop key on RP240 130
storing programs in controller memory
12
storing variable data to arrays 120
streaming mode 148
affected by pulse width 81
streaming data (SD) 148
datapoint 148
string variables 18
subroutine, definition of 8
substitutions, command values 6
support software
CompuCAM iv
DDE6000™ 50, 144
DLLs 51, 144
DOS support disk 38
Motion Architect iii
Motion OCX Toolkit™ 62, 144
Motion Toolbox™ 144
Servo Tuner iv
support, technical iv
synchronizing motion
conditional GOs (GOWHEN) 186
Following (slave-to-master) 210
registration 182
trigger functions
conditional GO 189
start new master cycle 189
syntax 4
guidelines 5
system performance 33
system status 135, 233
system update period (servos) 193
T
tail pointer 68
tangent axis, contouring 153, 154, 159
target zone 105
affects moving/not moving output
117
status (within zone) 233
timeout error 105
status 233
teach mode 120
technical considerations for Following
213
technical support iv, 244
terminal emulation 2
DOS support disk programs 41
interrupt-driven 68
Motion Architect iii
testing
AT6n00 test program (
TEST.EXE) 38
program debug tools 231
test programs, Motion Arch. 2, 242
thumbwheels
application example 127
connections 129
TM8 module 129
use of 129
timed data streaming,
see streaming
timeout, target zone 105
status 233
trace mode 134, 239
status 233
trackball application 205
trigger inputs
I/O bit pattern 107
position capture 112
status 233
programmed
conditional GO (GOWHEN) 113,
189
restart master cycle counting
113, 189, 208
status 193
repeatability 219
trigonometric operations 20
troubleshooting
common problems and solutions
228
controller statistics 232
debug tools 231
downloading, error messages 243
ENBL status 233
error messages 236
Following 223
I.D. bad command 238
methods 228
P-CUT status 233
status commands 232
test panels, Motion Architect 242
truncation, distance 85, 196
tuning 99
effect on Following accuracy
(servos) 218
U
UNTIL 24
using PMAS 209, 223
update rate, programmable I/O 106
user fault input 112, 118, 126
user interface options 127
GUI development tools 144
user programs, memory allocation 12
V
value substitution, command fields 6
valve
dithering 101
stiction 101
variables
binary 18, 22
in conditional expression 25
conversion between binary &
numeric 19
numeric 18
in conditional expression 25
teach data 120
string 18
variable arrays 120
view & edit from RP240 133