User guide

12 6000 Series Programmer's Guide
Storing Programs
Programs and compiled profiles are stored in the controller's memory (non-volatile memory
for stand-alone products and volatile memory for bus-based products). Information on
controlling memory allocation is provided below (see Memory Allocation).
Storing Programs in Stand-Alone Products
If you are using a stand-alone (serial interface) product, programs and compiled profiles are
automatically stored in non-volatile memory (battery-backed RAM).
More information on other items that are stored in non-volatile memory is provided below.
Storing Programs in Bus-Based Products
If you are using a bus-based product, programs
and compiled profiles are stored in volatile
RAM memory (not battery-backed). Therefore,
you should backup your motion
programs to your computer's hard disk or
floppy disk to ensure their safety. This is
easily done with the Receive Motion Program
function of Motion Architect's Terminal
Emulator module (see diagram at right).
In general, your programs may already be stored on your computer, since most programs are
created with Motion Architect's Editor or with the 6000 DOS support software package (see
Program Development Scenario starting on page 8).
Application set-up parameters such as drive setup, feedback setup, I/O configuration, etc.,
should be placed in a set-up program that is called/downloaded and executed before performing
any other controller functions (see Creating and Executing a Set-Up Program on page 14).
Memory Allocation
Your controller's memory has two partitions: one for storing programs and one for storing
compiled profiles. The allocation of memory to these two areas is controlled with the
MEMORY command.
“Programs” vs. ”Compiled Profiles”
Programs are defined with the DEF and END commands, as demonstrated in the Program
Development Scenario starting on page 8.
Compiled Profiles are defined like programs (using the DEF and END commands), but are
compiled with the PCOMP command and executed with the PRUN command. A
compiled profile could be a multi-axis contour (a series of arcs and lines), an
individual axis profile (a series of GOBUF commands), or a compound profile
(combination of multi-axis contours and individual axis profiles).
Programs intended to be compiled are stored in program memory. After they are
compiled with the PCOMP command, they remain in program memory and the
segments (see diagram below) from the compiled profile are stored in compiled
memory. The TDIR command reports which programs are compiled as a compiled
profile (referred to here as a path ).
For more information on multi-axis contours, refer to Contouring in Chapter 5, page
153. For more information on compiled profiles for individual axes, refer to Compiled
Motion Profiling in Chapter 5, page 163.