User guide

Chapter 1. Programming Fundamentals 15
Set-up Program Execution for Stand-Alone Controllers
If you created the set-up program in Motion Architect's Editor, you need to download it to the
6000 controller's non-volatile memory via the Terminal Emulator module (see Send Motion
Program under the Transfers menu). If you created the set-up program in the terminal
emulator, as in the example below, it is already stored to non-volatile memory.
Now that the set-up program is available, you can cause it to be executed automatically after
the 6000 controller is powered-up or reset. To do this, you must assign it as the power-up
start program with the STARTP command (see fourth line in example below).
Example DEF setup ; Define program setup
TREV ; Report software revision
END ; End of program setup
STARTP setup ; Define program pwrup as the power-up program
RESET ; Reset the controller
; After reset, you should see a message like this:
; *PARKER COMPUMOTOR 6201 MOTION CONTROLLER
; *NO REMOTE PANEL
If the program that is identified as the STARTP program is deleted by the DEL command, the
STARTP is automatically cleared. If you wish to prevent the assigned STARTP program from
being executed, without having to delete the program, issue the STARTP CLR command.
Set-up Program Execution for Bus-Based Controllers
In most cases you will require the parameters in the setup program to be executed as soon as
possible so that subsequent parameters are based on the setup program. This can be done using
Motion Architect. A set up program can be defined (in Motion Architect’s Setup Module),
saved, and then downloaded in the Terminal Module (see Send Motion Program under the
Transfers Menu). Once the setup program has been stored in the controller, it may be run by
issuing the name of the setup program.
An alternative method would be to not store the setup parameters in a setup program, but have
them execute upon downloading to the controller. This can be done be defining the setup
parameters in the Setup Module of Motion Architect, but not specifying a setup program.
This will remove the DEF and END statements from the setup file, which you will download
the same way in Motion Architect’s Terminal Module. Because the statements execute upon
downloading, there is no need to issue a program name.
Program Security
Issuing the INFNCi-Q command enables the Program Security feature and assigns the
Program Access function to the specified programmable input. The “i” represents the number
of the programmable input to which you wish to assign the function.
The program security feature denies you access to the DEF, DEL, ERASE, MEMORY, and
INFNC commands until you activate the program access input. Being denied access to these
commands effectively restricts altering the user memory allocation. If you try to use these
commands when program security is active (program access input is not activated), you will
receive the error message *ACCESS DENIED.
For example, once you issue the INFNC22-Q command, input #22 is assigned the program
access function and access to the DEF, DEL, ERASE, MEMORY, and INFNC commands will
be denied until you activate input #22.
To regain access to these commands without the use of the program access input, you must
issue the INFENØ command to disable programmable input functions, make the required user
memory changes, and then issue the INFEN1 command to re-enable the programmable input
functions.