User guide

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6250 Servo Controller User Guide

Teach the Data

to the Data

Program

The data that you wish to write to the data elements in the data program must first be placed

into numeric variables (VAR). Once the data is stored into numeric variables, the data elements

in the data program can be edited by using the Data Pointer (DATPTR) command to move the

data pointer to that element, and then using the Data Teach (DATTCH) command to write the

datum from the numeric variable into the element.

When the DATSIZ command is issued, the internal data pointer is automatically positioned to

data element #1. Using the default settings for the DATPTR command, the numeric variable

data is written to the data elements in sequential order, incrementing one by one. When the last

data element in the data program is written, the data pointer is automatically set to data

element #1 and a warning message (*WARNING: POINTER HAS WRAPPED AROUND TO

DATA POINT 1) is displayed. The warning message does not interrupt program execution.

The DATPTR command syntax is DATPTRi,i,i. The first integer (i) represents the data

program number (1 through 9). The second integer represents the number of the data element

to point to (1 through 6500). The third integer represents the number of data elements by

which the pointer will increment after writing each data element from the DATTCH command,

or after recalling a data element with the DAT command.

The DATTCH command syntax is DATTCHi<,i,i,i>. Each integer (i) represents the

number of a numeric variable. The value of the numeric variable will be stored into the data

element(s) of the currently active data program (i.e., the program last specified with the last

DATSIZ or DATPTR command). As indicated by the number of integers in the syntax, the

maximum number of variable values that can be stored in the data program per DATTCH

command is 4. Each successive value from the DATTCH command is stored to the data

program according to the pattern established by the third integer of the DATPTR command.

As an example, suppose data program #1 is configured to hold 13 data elements

(DATSIZ1,13), the data pointer is configured to start at data element #1 and increment 1 data

element after every value stored from the DATTCH command (DATPTR1,1,1), and the

values of numeric variables #1 through #3 are already assigned (VAR1=2, VAR2=4,

VAR3=8). If you then enter the DATTCH1,2,3 command, the values of VAR1 through

VAR3 will be assigned respectively to the first three data elements in the data program,

leaving the pointer pointing to data element #4. The response to the TPROG DATP1

command would be as follows (the text is highlighted to illustrate the final location of the

data pointer after the DATTCH1,2,3 command is executed):

*DATA=2.Ø,4.Ø,8.Ø,Ø.Ø

*DATA=Ø.Ø,Ø.Ø,Ø.Ø,Ø.Ø

*DATA=Ø.Ø

If you had set the DATPTR command to increment 2 data elements after every value from the

DATTCH command (DATPTR1,1,2), the data program would be filled differently and the data

pointer would end up pointing to data element #7:

*DATA=2.Ø,Ø.Ø,4.Ø,Ø.Ø

*DATA=8.Ø,Ø.Ø,Ø.Ø,Ø.Ø

*DATA=Ø.Ø,Ø.Ø,Ø.Ø,Ø.Ø

*DATA=Ø.Ø

Recall the Data

from the Data

Program

After storing (teaching) your variables to the data program, you can use the DATPTR command to

point to the data elements and the DATi ("i" = data program number) data assignment command

to read the stored variables to your motion program. You cannot recall more than one data

element at a time; therefore, if you want to recall the data in a one-by-one sequence, the third

integer of the

DATPTR

command must be a

(this is the default setting).