User guide

Change Summary
6000 Series Programmer’s Guide
Rev D
Rev D – summary of changes (minor)
• Removed references to the Motion Architect User Guide. Motion Architect no longer
ships with the printed manual. An on-line Adobe Acrobat PDF version is available from our web
site (http://www.compumotor.com).
• Clarified Command Value Substitution guidelines with a “rule of thumb” (see page 6).
• Error programming correction:
DO NOT use the ERRORP CLR command to cancel the branch to
the error program (see page 31).
• DLL documentation clarification and correction (see pages 51-62):
- WN956000.DLL is a
32-bit DLL to be used for Windows 95.
- The DLL functions SetNTParam, SetNTMultiCardAddress, and SetDevice return FALSE (“0”) if
the function is successful and TRUE (non-zero value) if the function is unsuccessful.
• Sending ERRLVL1 to the first unit in an RS-232 daisy-chain does not set all other units to
ERRLVL1. You must send ERRLVL1 to each unit individually. (see page 72)
• GOWHEN correction: A preset GO command that is already in motion
can (not “cannot”) start a
new profile using the GOWHEN and GO sequence of commands. (this is true as of rev 4.1 firmware)
Rev C – summary of changes (MAJOR)
• Updated to accommodate 4.x firmware enhancements (see topics below) and the ZETA6104.
• The presentation of programming examples was modified so that you can copy them from the
Help system (in Motion Architect) or from the PDF file (on our www.compumotor.com web
site) and paste them directly into your program.
• Added documentation to support
all 6000 products.
• Incorporated the Following User Guide (see Chapter 6).
• New sections:
- Programming Scenario....................................................... Page 8
- Controlling Multiple Serial Ports ......................................... Page 70
- RS-485 Multi-drop............................................................ Page 75
- Setup Parameters
(list of commands for common setup parameters)........ Page 78
- ZETA610n Internal Drive Setup............................................ Page 82
- Servo Setup..................................................................... Page 98
- RP240 Remote Operator Panel ............................................. Page 130
- Host Computer Interface..................................................... Page 143
- Graphical User Interface (GUI) Development Tools.................... Page 144
- Compiled Motion Profiling................................................. Page 163
- On-the-Fly Motion ........................................................... Page 178
- Registration.................................................................... Page 182
- Synchronizing Motion ...................................................... Page 186
- Chapter 6: Following
(incorporated the Following User Guide ) .......... Page 191
- Status Commands ............................................................. Page 232
• New back cover with quick-reference material.
READ ON ...
for a summary of the enhancements implemented in firmware revision 4.x.
mmm