User guide

Change Summary, page 3
Topic Description
Error Checking
Conditions
Enhancements: (SEE_PG._31)
• 610n: The drive fault error (reported with error status bit #4 and axis status bit #14) can be caused
by any one or combination of the factors list below. To ascertain the exact cause, use the extended
axis status (TASX or ASX):
- Motor fault (disconnected/faulty motor cable or short in motor) — bit #1
- Low-voltage (power) — bit #2
- Maximum drive temperature (131°F, 55°C) exceeded — bit #3
• Error status enhancements
- Error bit #8 is set if a stop input (assigned with INFNCi-D) is activated.
- Error bit #10 is set if the target position specified for a pre-emptive GO or a registration move is
not achievable at the time the pre-emptive GO command is executed or the registration input is
activated. This condition also sets bit #30 in the axis status register (reported with TAS & AS).
To clear error bit #10 and axis bit #30, execute another GO command.
- Error bit #16 is set if a bad command was detected; clear with TCMDER.
• Related commands:
[
ER ]...... Error Status (assignment or comparison)
ERROR ..... Error-Checking Enable
ERRORP.... Error Program Assignment
TER......... Transfer Error Status
Fast Status
(bus-based products)
Correction: The bit assignments for the Limits status in block 5 are
not the same as those for the
TLIM report. (SEE_PG._43)
Clarification: The input buffer is 256 bytes.
Following
Enhancements:
• The new Following Kill (FOLK) command allows you to limit what will kill the Following profile.
That is, it allows the slave to remain in synchronization with the master even after the occurrence
of a drive fault, user fault input, excess position error, or enable input.
Servo products only.
• The new Numerator of Final Slave-to-Master Ratio, Preset Moves (FOLRNF) command designates
that the motor will move the load the distance assigned in the preset GOBUF segment, completing
the move at a final ratio of zero. FOLRNF applies only to the first subsequent GOBUF, which marks
an inter-mediate “end of move” within a Following profile. The FOLRNF command is only useful
for
compiled Following moves. (SEE_PG._166)
• The Following User Guide has been incorporated into this document (SEE_PG._192).
Homing
Clarification: Avoid using pause and resume functions during the homing operation. A pause
command (PS or !PS) or pause input (input configured with the INFNCi-E command) will pause the
homing motion. However, when the subsequent resume command (C or !C) or resume input
(INFNCi-E input) occurs, motion will resume at the
beginning of the homing motion sequence.
Memory Management
Enhancements:
• Compiled Memory status commands:
- System status (TSS & SS) bit #29 is set if compiled memory is 75% full,
bit #30 is set if compiled memory is 100% full
- TSEG & SEG report the number of available segments in compiled memory
• All stand-alone products are shipped with 150,000 bytes of memory. The -M option has thus been
eliminated for these products.
• The second field in the MEMORY command is re-defined to be for “compiled memory” (i.e., anything
compiled with the PCOMP command). (SEE_PG._12)
• These commands are automatically saved in non-volatile memory: (SEE_PG._33)
CMDDIR.... Commanded Direction Polarity (6104, 615n, 620n, 6270 only)
DMTIND.... Motor Inductance (6104 only)
DMTSTT.... Motor Static Torque (6104 only)
DRPCHK.... RP240 check (6104, 615n, 620n, & 625n only)
ENCPOL.... Encoder Polarity (6104, 620n, & 6270 only)
On-The-Fly Motion
(AKA: Pre-Emptive GOs)
Enhancements: (SEE_PG._178)
• The two basic ways of creating a complex profile are with compiled buffered motion, or with pre-
emptive GOs. With compiled buffered motion, portions of a profile are built piece by piece, and
stored for later execution. Compiled buffered motion is appropriate for motion profiles with
motion segments of pre-determined velocity, acceleration and distance. With pre-emptive GOs, the
motion profile underway is pre-empted with a new profile when a new GO is issued. The new GO
both constructs and launches the pre-empting profile. Pre-emptive GOs are appropriate when the
desired motion parameters are not known until motion is already underway.
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