User guide
Change Summary, page 4
Topic Description
On-The-Fly Motion
(continued)
• Affected Commands:
COMEXC .... COMEXC1 mode allows pre-emptive motion with buffered commands
GO ........... Allows pre-emptive D, MC, MA, FOLRN, & FOLRD changes
TAS & AS .. Bit #30 is set if the load has already passed the target position
.............. (D) specified in a pre-emptive GO. (also sets error status bit #10)
TER & ER .. Error status bit #10 is set if axis status bit #30 is set.
Registration
Enhancements: (SEE_PG._182)
• New Commands:
REGLOD .... Registration Lock-Out Distance. Establishes a lock-out distance (measured from
.............. the start of motion to the current actual position) to be traveled before a
.............. registration move is allowed.
REGSS ...... Registration Single-Shot. Allows only one registration move on the specified axis.
.............. Prevents other triggers from interrupting the registration move in progress.
• Axis status bit #28, reported by the TAS and AS commands, is set to 1 when a registration move
has been initiated by any registration input (trigger). Bit #28 is cleared (set to Ø) upon the next GO
command for that axis.
• If, when the registration input is activated, the registration move profile cannot be performed with
the specified parameters, the 6000 controller will kill the move in progress and set axis status bit
#30 (see TAS & AS). If error-checking bit #10 is enabled with the ERROR command, the controller
will also set error status bit #10 (see TER & ER) and branch to the assigned ERRORP error-handling
program. Axis status bit #30 and error status bit #10 are cleared (set to Ø) upon the next GO
command for that axis.
• As of revision 4.1, Registration is now available
all 6000 products (previous to 4.1, Registration
was available only for stepper products).
Serial Communication
Enhancements: (SEE_PG._70)
• BOT command was created to control the beginning-of-transmission characters for all
responses from the 6000 product.
• XONOFF command (new) enables/disables XON/XOFF ASCII handshaking.
• Additional features to control multiple serial ports on stand-alone products:
[............. Send response from the subsequent command to both ports.
]............. Send response from the subsequent command to the alternate
.............. port from the one selected with the most recent PORT command.
DRPCHK .... Configures the serial port (specified with the last PORT command)
.............. to be used with an RP240, or 6000 commands, or both.
PORT........ Determines which serial port is affected by the subsequent DRPCHK, E, ECHO,
.............. BOT, EOT, EOL, ERRORK, ERRBAD, ERRDEF, ERRLVL, and XONOFF commands.
• As of 4.0, the ECHO command was enhanced with options 2 and 3. The purpose is to
accommodate an RS-485 multi-drop configuration in which a host computer communicates
to the “master” 6000 controller over RS-232 (COM1 port) and the master 6000 controller
communicates over RS-485 (COM2 port) to the rest of the units on the multi-drop. For this
configuration, the echo setup should be configured by sending to the master the following
commands executed in the order shown. In this example, it is assumed that the master's
device address is set to 1. Hence, each command is prefixed with “1_” to address only the
master unit.
1_PORT2... Subsequent command affects COM2, the RS-485 port
1_ECHO2... Echo characters back through the other port, COM1
1_PORT1... Subsequent command affects COM1, the RS-232 port
1_ECHO3... Echo characters back through both ports, COM1 and COM2
Servo Updates Changed (see
SSFR
command description for full explanation of table contents)
(Servo Products Only) Servo Sampling Update Motion Trajectory Update System Update
# of Axes
(INDAX)
SSFR
Setting
Frequency
(samples/sec.)
Period
(µsec)
Frequency
(samples/sec.)
Period
(µsec)
Frequency
(samples/sec.)
Period
(µsec)
1 1 3030 330 3030 330 757 1320
1 2 5405 185 2703 370 675 1480
Default, Single-Axis 1 4 6250 160 1563 640 520 1920
1 8 6667 150 833 1200 417 2400
2 1 2353 425 2352 425 588 1700
2 2 3571 280 1786 560 446 2400
Default, Two-Axis 2 4 3571 280 893 1120 446 2400
2 8 3571 280 446 2240 446 2400
3 1 1667 600 1667 600 555 1800
3 2 2222 450 1111 900 555 1800
3 4 2353 425 588 1700 588 1700
4 1 1250 800 1250 800 417 2400
4 2 1667 600 833 1200 417 2400
Default, Four-Axis 4 4 2000 500 500 2000 500 2000