User guide

Appendix C: Index 119
pre-wired connections 3
precautions
installation 7
mounting 8
preset (normal) mode 52
PROCOMM™ 4
programmable inputs and outputs 54-65 95, 96,
103
input function assignments 58
output function assignments 55
screw terminal connections 14
test 18
used in binary variable 55
used in conditional branching & looping 55
used in program interrupt 55
programming 83
debug tools 93
editing programs 44
in 6000 DOS support software 44
in Motion Architect 44
error programs 45
error responses 97
executing programs 86, 87
flow control 87
interrupting programs 92
memory allocation 84
power-up program (STARTP) 5, 70, 85
problems 108
problems 109
program buffer 83
program in progress 56
selecting programs one-to-one 59, 62
debounce time 60
skills iii
storing programs 84
proportional feedback control (SGP) 26
pure s-curve 80
R
reading inputs and outputs 55
reading RP240 data 90
reading thumbwheel data 63
related publications iv
relational operators 89
REPEAT 87
repeatability 44
reset
check for address & auto baud 105
response 23
return material authorization (RMA) 110
return procedure 110
rise time 24
RP240 90
application example 54
connections 15
data reads 90
in daisy chain 78
menu structure 70
operation 68
password 70
pin outs 105
test 18
RS-232C communication 112
connections 4
daisy-chaining 76
disable handshaking 109
troubleshooting 109
runaway motor 11
S
safety 7
safety features 45
safety stops 11
saturation of the control output 22
scaling 46, 51
servo
control methods/types 26
open-loop operation 29
sampling frequency 16, 21, 33
tuning (see tuning ) 21
setpoint 22
settling time 24
actual 41
shielding 7, 17
shift left to right (>>) 75
shift right to left (<<) 75
shipment
inspection 3
shutdown 9, 45, 102
on kill 20, 60
simulating analog input channel voltages 95
simulating I/O activation 95
single-ended encoders 12
single-step mode 2
software limit 86
specifications 101
Stability 23
stand-alone operation 54
start-up program (STARTP) 5, 70, 85
problems 108
status
ANI input voltage 68
assigned to binary variable 73
axis 90
command error 97
error 90
inputs 58
joystick inputs 16
LEDs 101, 108
motion 90
outputs 56
position capture 61
system 90
steady-state 24
position error 23
stop
assigned input function 4, 53
bits 4
effect on program execution 60, 87
string variables 73
subroutines 84
creating 83
support software 44
surge suppression 111, 112
system connections 9
system specifications 101
system status 90
T
target zone 41
timeout error 41
terminal emulation 44
6000 DOS support disk 44
motion architect 44
Test
bench test procedure 5
encoder 18
joystick 18
limits 18
motion 18
programmable I/O 18
pulse cut-off 18
RP240 18
system installation 17
thumbwheels (including TM8) 13, 54, 63-64
timeout error 41
timer values 90
trace mode 93, 97
transient 24
translation mode 85
transmitted noise 111
travel limit 11
trigger inputs 53, 104
connections 14
debounce time 58, 61
position capture function 61
trigonometric operations 74
troubleshooting
common problems & solutions 108
diagnostic LEDs 108
methods 107
TTL-compatible voltage levels 101
tuning 21
6250 tuning procedures 32
drive tuning procedures 31
scenario (case example) 38
setup procedure 29
U
unconditional looping and branching 87
under-damped servo response 24
unstable servo response 23, 24
user fault input 45, 57, 61
user interface options 54
user program memory allocation 85
V
variables
binary 73
numeric 73
string 73
velocity
change on the fly 53
resolution 66
scaling 46
velocity feedback control (SGV) 28
velocity feedforward control (SGVF) 28
velocity select input 16
VM50 adaptor 14
W - Z
watchdog timer 45
WHILE 87, 92
windup of the integral action 27
X-Y linear interpolation 81
z channel output 12
zero position after homing 49