User guide
Change Summary, page 2
Topic Description
Commanded Direction
Reversal (CMDDIR)
Enhancement: The commanded direction polarity reversal command (CMDDIR) is available for the
615n series, the 6270, and all stepper products (610n, AT6n00, 620n). The CMDDIR command
allows you to reverse the direction that the controller considers to be the “positive” direction; this
also reverses the polarity of the counts from the feedback devices. Thus, using the CMDDIR command,
you can reverse the referenced direction of motion without the need to (a) change the connections to
the drive or motor and the feedback device, or (b) change the sign of motion-related commands in
your program.
(SEE_PG._97_OR_101)
Compiled Motion New Feature: (SEE_PG._163)
Related commands (new):
FOLRNF .... Numerator of Final Slave-to-Master Ratio, Preset Moves
GOBUF ...... Store a Motion Segment in Compiled Memory
PLN ......... Loop End, compiled motion
PLOOP ...... Loop Start, compiled motion
POUTA ...... Output on Axis 1, compiled motion
POUTB ...... Output on Axis 2, compiled motion
POUTC ...... Output on Axis 3, compiled motion
POUTD ...... Output on Axis 4, compiled motion
[
SEG ]..... Number of Segments Available In Compiled Memory
TSEG........ Transfer Number of Segments Available, Compiled Memory
VF ........... Final Velocity
Existing commands, modified to support compiled motion:
GOWHEN .... Conditional GOs allowed in compiled motion
PCOMP ...... Pre-Compile a Program
PRUN........ Run a Pre-Compiled Program
PUCOMP .... Un-Compile a Program
[
SS ] ...... Bit #29 set if compiled memory 75% full, bit #30 set if 100% full
.............. Bit #31 is set if a compile (PCOMP) failed; cleared on power-up,
.............. reset, or after a successful compile. (See Status Reporting,
.............. Additions below for a list of typical causes.)
TRGFN ...... Execute GOWHENs or start new master cycle in compiled motion
TSS ......... (see [ SS ] description above)
Contouring (Circular
Interpolation)
Enhancement: As of Rev 4.1, contouring is now available for all multi-axis products, steppers
and servos.
(SEE_PG._153)
Continuous Command
Execution Mode
(COMEXC1)
Enhancement: On-The-Fly changes (pre-emptive motion). In addition to velocity (V),
acceleration (A & AA), and deceleration (AD & ADA), you may now change the positioning mode (MC &
MA), the distance (D), and the Following ratios (FOLRN & FOLRD). These changes will affect the
subsequent GO command executed while moving; thus, this new enhancement is referred to as “pre-
emptive GOs.” (SEE_PG._178)
When pre-processing subsequent moves, the subsequent move may now be executed as soon as the
next GO command is executed. Previous to revision 4.0, the subsequent move could not be executed
until all moves on all axes were completed.
Drive Configuration
& Reset
Enhancements:
New commands added to set up the drive component of the 610n: (SEE_PG._82)
DACTDP .... Enable/disable active damping for speeds greater than 3 rps.
.............. (config. procedure: see the ZETA6104 Installation Guide)
DAREN ...... Enable/disable anti-resonance. Anti-resonance is inhibited at or
.............. below 3 rps, and if active damping is enabled.
DELVIS .... Enable/disable electronic viscosity for speeds at or below 3 rps.
.............. (config. procedure: see the ZETA6104 Installation Guide)
DAUTOS .... Enable/disable automatic current standby mode in which current
.............. to the motor (
& torque) is reduced by 50% if no pulses are sent
.............. for 1 second. Full current is restored upon the next pulse.
DMTIND .... Motor inductance (used only for active damping—DACTDP).
DMTSTT .... Motor static torque (used only for active damping—DACTDP).
DWAVEF .... Motor waveform (required for matching the motor to the drive).
615n only: As of Rev 4.1, you may use the new DRESET command to reset the internal drive
independent of the internal controller. The purpose of the DRESET command is to clear fault
conditions with the internal drive.
Encoder Polarity Reversal
(ENCPOL)
Enhancement: The encoder polarity reversal command (ENCPOL) is now available to all 6000
stepper products (AT6n00, 620n, & 610n). Previous to 4.0 the ENCPOL command was only
applicable to the 6270. The ENCPOL command is used to reverse the polarity (counting direction) of
the encoder feedback counts. This is an alternative to reversing the A+ and A- connections to the
encoder. (SEE_PG._97_OR_100)