User guide

18 6000 Series Programmer's Guide
Restricted Commands During Motion
When motion is in progress, some commands cannot have their parameters changed until
motion is complete (see table below).
For the commands identified in the table, if the continuous command execution mode in
enabled (COMEXC1) and you try to enter new command parameters, you will receive the error
response MOTION IN PROGRESS. If the continuous command execution mode in disabled
(COMEXCØ), which is the default setting, you will receive the response MOTION IN
PROGRESS only if you precede the command with the immediate (!) modifier (e.g., !V2Ø); if
you enter a command without the immediate modifier (e.g., V2Ø), you will not receive an error
response and the new parameter will be ignored and the old parameter will remain in effect.
All of the commands in the table below, except for INDAX and SCALE, are axis-dependent.
That is, if one axis is moving you can change the parameters on the other axes, provided they
are not in motion.
Command Description Command Description
ANIPOL.........
ANI input Polarity
JOY.................
Joystick Mode Enable
CMDDIR.........
Commanded Direction Polarity
JOYA..............
Joystick Acceleration
DRES..............
Drive Resolution
JOYAA............
Average Joystick Acceleration
DRIVE............
Drive Shutdown
JOYAD............
Joystick Deceleration
ENC.................
Encoder/Motor Step Mode
JOYADA.........
Average Joystick Deceleration
ENCPOL.........
Encoder Polarity
JOYVH............
Joystick Velocity High
ERES..............
Encoder Resolution
JOYVL............
Joystick Velocity Low
EPMV..............
Position Maintenance Max Velocity
LDTPOL.........
LDT Polarity
FOLEN............ Following Mode Enable
LDTRES.........
LDT Resolution
FR...................
Feedrate Enable
LHAD..............
Hard Limit Deceleration
GOL.................
Initiate Linear Interpolated Motion
LHADA............
Average Hard Limit Deceleration
HOM.................
Go Home
LSAD..............
Soft Limit Deceleration
HOMA..............
Home Acceleration
LSADA............
Average Soft Limit Deceleration
HOMAA............
Average Home Acceleration
PSET..............
Establish Absolute Position
HOMAD............
Home Deceleration
SCALE............
Enable/Disable Scale Factors
*
HOMADA.........
Average Home Deceleration
SCLA..............
Acceleration Scale Factor
HOMV..............
Home Velocity
SCLD..............
Distance Scale Factor
HOMVF............
Home Final Velocity
SCLV..............
Velocity Scale Factor
INDAX............
Participating Axes
* SSV.................
Start/Stop Velocity
JOG.................
Jog Mode Enable
JOGA..............
Jog Acceleration
JOGAA............
Average Jog Acceleration
JOGAD............
Jog Deceleration
JOGADA.........
Average Jog Deceleration
JOGVH............
Jog Velocity High
JOGVL............
Jog Velocity Low
* If any axis is in motion, you will cause an error if you attempt to change this command's parameters.
Variables
6000 Series controllers have three types of variables (numeric, binary, and string). Each type of
variable is designated with a different command: VAR (numeric variable), VARB (binary variable),
and VARS (string variable). The quantity available for each variable type differs by product:
Variable Type AT6n00 AT6n00-M
(with expanded memory)
All Other 6000 Controllers
(regardless of -M option)
Numeric (VAR) 100 200 150
Binary (VARB) 100 100 25
String (VARS) 100 100 25
NOTE: Variables do not
share the same memory
(e.g., VAR1, VARB1, and
VARS1 can all exist at the
same time and operate
separately).
Numeric variables are used to store numeric values with a range of -999,999,999.ØØØØØØØØ to
999,999,999.99999999. Mathematical, trigonometric, and boolean operations are performed
using numeric variables. You can also use numeric variables to store (“teach”) variable data in
variable arrays (called data programs) and later use the stored data as a source for motion program
parameters (see Variable Arrays on page 120 for details).