User guide

ManualsBrandsBosch ManualsCoffee Grinders6000

259

260

261

262

263

264

265

266

267

268

6000 Series Programmer’s Guide

Basic Setup

Setup Parameter * Command See pg.

General Programming

1.....Axis in motion

2.....Commanded direction negative

3.....Accelerating

4.....At commanded velocity

-----------------------

5.....Home successful (HOM)

6.....In Absolute Positioning

.......Mode (MA)

7.....In Continuous Positioning

.......Mode (MC)

8.....In Jog Mode (JOG)

-----------------------

9.....In Joystick Mode (JOY)

10...In Encoder Step Mode (ENC)

11...Position Maintenance on (EPM)

12...Stall was detected (ESTALL)

-----------------------

13...Drive shutdown occurred

14...Drive fault occurred

15...POS hardware limit hit

16...NEG hardware limit hit

TASF Current axis-specific conditions

1.....System is ready

2.....RESERVED

3.....Executing a program

4.....Last command executed

.......was immediate

-----------------------

5.....In ASCII Mode

6.....In Echo Mode (ECHO)

7.....Defining a program (DEF)

8.....In Trace Mode (TRACE)

-----------------------

9.....In Step Mode (STEP)

10...In Translation Mode

11...Command error occurred

12...Break point (BP) is active

-----------------------

13...Pause active (PS or pause input)

14...Wait (WAIT) is active

15...Monitoring ONCOND conditions

16...Waiting for data (READ)

Status Commands

TSSF Current system conditions

TSTAT.......General system status.

TCMDER.....Identifies the command that caused an error.

TEX...........Execution status of the current program in progress.

TDIR.........Names of all stored programs; memory usage.

TFSF.........Following status.

TERF.........Error status. You must first enable each error-checking bit

................. with the ERROR command (see page 30). If the error-

................. checking bit is enabled and the error occurs, the controller

................. will branch to the ERRORP program.

TINOF.......Status of P-CUT or ENBL input and joystick inputs.

TIN...........Active status of each programmable & trigger input.

................. Bit assignments vary by product—refer to page 107.

TOUT.........Active status of each programmable & auxilliary output.

................. Bit assignments vary by product—refer to page 107.

TPM...........Commanded position (steppers).

TPC...........Commanded position (servos).

TFB...........Actual position, selected feedback sources (servos).

TPER.........Position error (difference of commanded vs. actual).

TASXF.......Extended axis status.

Other Status Commands

(see also page 235)

Command syntax....................................................... page 3

Programming scenario (using Motion Architect)........ page 8

Program flow control (loops, branches, WAITs).........page 23

Error handling (programmed responses)................... page 30

Error messages..........................................................page 236

Debugging your programs..........................................page 231

Programmable I/O bit patterns...................................page 107

Scaling........................................................................page 83

Variables.................................................................... page 18

See also, page 1

Common problems (see also problem/cause/solution table on page 228):

• No motion. Possible causes include:

- P-CUT input or ENBL input must be grounded to allow motion.

Check status with TINOF command.

- Drive is disabled. Enable with DRIVE command.

Make sure the drive fault level (DRFLVL) is correct (see pg. 80)

- End-of-travel limit active (check with TASF, bits 15-18)

• Programmable input (INFNC) functions do not work.

- Enable with the INFEN1 command.

Command list and descriptions (see

6000 Series Command Reference

)

Technical Assistance: Phone numbers are reported with the HELP

command, and are listed on the inside cover of this document.

Participating Axes..........................................INDAX.................79

Memory (status with TDIR & TMEM)..............MEMORY...............12 & 80

Drive Setup................................................................................80

Drive Fault Level......................................DRFLVL

Drive Resolution...................................... DRES

Step Pulse Width (steppers)....................PULSE

Start/Stop Velocity (steppers)..................SSV

Drive Disable on Kill (servos)...................KDRIVE

ZETA6104 Drive Setup:

Motor inductance................................DMTIND

Motor static torque............................. DMTSTT

Activate damping ...............................DACTDP

Anti-resonance...................................DAREN

Electronic viscosity ............................DELVIS

Automatic current reduction...............DAUTOS

Axis Scaling................................................... ............................83

Enable scaling factors..............................SCALE

Acceleration scaling factor.......................SCLA

Distance scaling factor.............................SCLD

Velocity scaling factor..............................SCLV

Positioning Mode........................................... ............................87

Continuous or preset............................... MC

Preset: absolute or incremental...............MA

End-of-travel limits.....................................................................90

Hardware – enabled................................ LH

Hardware – deceleration..........................LHAD

Hardware – s-curve decel (servos)..........LHADA

Hardware – active level of input...............LHLVL

Software – enabled..................................LS

Software – deceleration...........................LSAD

Software – s-curve decel (servos)...........LSADA

Software – negative direction limit ..........LSNEG

Software – positive direction limit ........... LSPOS

Homing.......................................................................................91

Acceleration.............................................HOMA

S-curve acceleration (servos)..................HOMAA

Deceleration.............................................HOMAD

S-curve deceleration (servos)..................HOMADA

Backup to home.......................................HOMBAC

Final approach direction.......................... HOMDF

Stopping edge of switch...........................HOMEDG

Home switch active level......................... HOMLVL

Velocity ................................................... HOMV

Velocity of final approach.........................HOMVF

Home to Z channel input..........................HOMZ

Closed-loop Stepper Setup (stepper products only).................. 95

Motor (drive) resolution............................DRES

Encoder resolution...................................ERES

Encoder/motor step mode select.............ENC

Position maintenance.............................. EPM

Stall detection.......................................... ESTALL

Kill on stall detected.................................ESK

Stall deadband.........................................ESDB

Use encoder as counter...........................CNTE

Encoder polarity.......................................ENCPOL

Commanded direction polarity.................CMDDIR

Servo Setup (servo products only).............................................98

Tuning parameters...................................(see page 99)

Feedback source selection......................SFB

Update rates............................................SSFR

Maximum position error...........................SMPER

DAC output limit, maximum.....................DACLIM

DAC output limit, minimum......................DACMIN

Dither, amplitude......................................SDTAMP

Dither, frequency ratio ............................ SDTFR

Feedback polarity, encoder..................... ENCPOL

Feedback polarity, ANI input....................ANIPOL

Feedback polarity, LDT............................LDTPOL

Commanded direction polarity.................CMDDIR

Servo control signal offset....................... SOFFS

Servo control signal offset, negative........SOFFSN

Setpoint window, distance....................... SSWD

Setpoint window, gain set........................SSWG

Target Zone (end-of-move settling criteria)................................105

Target zone mode enable........................STRGTE

Target distance zone...............................STRGTD

Target velocity zone.................................STRGTV

Target settling timeout period..................STRGTT

Programmable Input Functions (TIN for binary status report)..........106 & 108

Enable input functions............................. INFEN

Define input functions..............................INFNC

Input active level......................................INLVL

Input debounce........................................INDEB

Trigger input functions.............................TRGFN

Programmable Output Functions (TOUT for binary status report)..... 106 & 116

Enable output functions...........................OUTFEN

Define output functions............................OUTFNC

Output active level...................................OUTLVL

Variable Arrays (teaching variable data)....................................120

Initialize numeric variable for data...........VAR

Define data program and program size...DATSIZ

Set data pointer & establish increment....DATPTR

Reset data pointer to specific location.....DATRST

* You can check the status of each parameter by entering the setup

command without any command fields (e.g., INFNC). Some parameters

are also reported with the TSTAT and TASF status commands.