User guide
Chapter 1. Programming Fundamentals
33
Non-Volatile Memory (Stand-Alone Products Only)
When using stand-alone serial-based 6000 controllers the items listed below are automatically
stored in non-volatile memory (battery-backed RAM). Cycling power or issuing a RESET
command will not affect these settings.
Item 610n 615n 620n 625n 6270
Absolute position reference (PSET)...........................
Commanded direction polarity (CMDDIR).................
Compiled profiles (PCOMP) – see note below *........
Device address (ADDR ).............................................
Feedback device polarity
ANI polarity (ANIPOL).......................................
Encoder polarity (ENCPOL)...............................
LDT polarity (LDTPOL)......................................
LDT gradient.................................................................
Memory allocation (MEMORY )...................................
Motor inductance (DMTIND).......................................
Motor static torque (DMTSTT)....................................
Power-up program (STARTP)....................................
Programs (defined with DEF & END).........................
RP240 check (DRPCHK).............................................
RP240 password (DPASS )........................................
RS-232C baud rate......................................................
Servo gain sets (SGSET) ............................................
Variables: (VAR, VARB, and VARS)..........................
n/a
•
•
•
n/a
•
n/a
n/a
•
•
•
•
•
•
•
•
n/a
•
n/a
•
•
•
n/a
•
n/a
n/a
•
n/a
n/a
•
•
•
•
•
•
•
n/a
•
•
•
n/a
•
n/a
n/a
•
n/a
n/a
•
•
•
•
•
n/a
•
n/a
n/a
•
•
n/a
n/a
n/a
n/a
•
n/a
n/a
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
•
n/a
n/a
•
•
n/a
•
•
•
•
* Compiled contours are always saved in the Compiled portion of batter-backed RAM.
However, compiled individual axis profiles (GOBUF profiles) are removed from Compiled
memory if you run them with the PRUN command and later cycle power or RESET the
controller (you will have to re-compile them with the PCOMP command).
A checksum is calculated for the non-volatile memory area each time you power up or reset
your 6000 controller. A bad checksum indicates that the user memory has been corrupted
(possibly due to electrical noise) or has been cleared (due to a spent battery). The controller
will clear all user memory when a bad checksum is calculated on power up or reset, and bit 22
will be set in the TSS command response.
System Performance
Several commands (listed below), when enabled, will slow command processing. This
degradation in performance will not be noticeable for most applications. But for some, it may
be necessary to disable one or all of these commands.
• SCALE (enable/disable scaling)
• INDUSE (enable/disable user status updates)
• INFEN (enable/disable drive fault and programmable input functions)
• OUTFEN (enable/disable programmable output functions)
• ONCOND (enable/disable ON conditions)
Servo Products: Changing the INDAX and/or SSFR command values affects the servo
sampling update, the motion trajectory update, and the system update rate. The system update
rate is the rate for I/O updates, input debounce, timer resolution, fast status update (bus-based
products), and LDT position update (6270). For more information, refer to the SSFR
command description.