User guide

80 6000 Series Programmer's Guide
Memory Allocation
For details about memory allocation, refer to the Storing Programs on page 12.
CAUTION
Issuing a new MEMORY command (e.g., MEMORY3ØØØØ,1ØØØØ) will erase all existing programs
and compiled contouring path segments residing in the 6000 product's memory. To
determine the status of memory allocation, use the TMEM command.
If you are using a stand-alone serial product, do not place the MEMORY command in the
program assigned as the startup (STARTP) program. Doing so would erase all programs and
segments upon cycling power or issuing the RESET command.
Drive Setup
Drive Fault Level
This setup parameter is
not required for packaged
drive/controller products
(e.g., 610n, 6201).
The drive fault level (DRFLVL) should be set to “active high” or “active low” for each axis.
The drive fault input schematic is shown in your 6000 Series product installation guide. Use
the table below as a guide (the drive fault level for packaged controller/drive products is factory
set). NOTE: The drive fault input is not available on the OEM-AT6400 product.
Compumotor Product Drive Fault Level
BLH, L, LE, PDS, PK130..................................................................
Apex Series, CD (in CN rack), Dynaserv , LN, OEM Series,
S, SD (in SC rack), TQ, Z, Zeta......................................................
Active Low (DRFLVLØ)
Active High (DRFLVL1)
NOTE:If you are using a drive that does not have a drive fault output, set the drive fault level to active low (DRFLVLØ).
NOTE
Once the drive fault level has been configured, you must enable the drive fault input with the
INFEN1 command before the input is usable.
Checking Drive Fault Input Status (see table below): Axis status bit #14 (TASF,
TAS or AS commands) indicates the drive fault input status, but only while the drive is
enabled (DRIVE1). If you need to monitor the drive fault input status regardless of the drive's
enabled state, use the extended axis status bit #4 (TASXF, TASX, or ASX commands).
Drive Fault Level
(DRFLVL)
Status of device
driving the Fault input
Axis Status of Bit #14 (or)
Extended Axis Status Bit #4
DRFLVL1 (active high) OFF or not connected (not sinking current)
ON (sinking current)
1 (drive fault has occurred)
Ø
DRFLVLØ (active low) OFF or not connected (not sinking current)
ON (sinking current)
Ø
1 (drive fault has occurred)
When a drive fault occurs, motion will be stopped on all axes and program execution will
be terminated. The way in which motion is stopped varies between servo and stepper products:
Servos: Motion is stopped at the rate set with the LHAD command (default is 100
units/sec
2
).
Steppers: CAUTION – A drive fault condition will stop motion instantaneously,
without a controlled deceleration ramp—this allows the load to free wheel,
possibly damaging equipment. Use a brake on your motor drive system to
brake the load in the event of a drive fault.