User guide

84 6250 Servo Controller User Guide
Command Description
> MAØ Places axis 1 in the incremental mode
> MCØ Places axis 1 in the preset mode
> LHØ Disable axis 1 limits
> DEF prog1 Begin definition of program prog1
- A25 Sets acceleration to 25 rps
2
- AD25 Sets deceleration to 25 rps
2
- V1Ø Sets velocity to 10 rps
- D4ØØØ Sets distance to 4,000 steps
- GO1 Executes the move (Go)
-D~ Reverse direction
- GO1 Executes the move (Go)
- END Ends definition of program
> RUN prog1 Runs program prog1
You can run a program by entering the RUN command immediately followed by a program
name and a delimiter.
Rule of thumb:
DEL before DEF ☞
Once you define (DEF) a program, it cannot be redefined until you delete it with the DEL
command.
Subroutines
A subroutine is exactly the same as a program. A subroutine is defined with the DEF
command, and executed with the GOSUB command. Subroutines can be nested up to 16 levels
deep.
Stored Programs and Non-volatile Memory
All programs are automatically stored in non-volatile memory (battery-backed RAM). All
paths compiled with the PCOMP command are also stored in non-volatile memory. Additional
information that is stored in non-volatile memory includes:
❏ All variables: numeric (VAR), binary (VARB), and string (VARS)
❏ Compiled contouring paths (PCOMP)
❏ Device Address (ADDR )
❏ Memory allocation (MEMORY )
❏ Power-up program (STARTP )
❏ RP240 password (DPASS )
❏ RS-232C baud rate
❏ Servo gain sets (SGSET)
A checksum is calculated over this user memory area each time on power-up or reset. A bad
checksum indicates that the user memory has been corrupted (possibly due to electrical noise)
or has been cleared (due to a dead battery). The 6250 will clear all user memory when a bad
checksum is calculated on power up or reset, and bit 22 will be set in the TSS command
response.
Memory
Allocation
The 6250 has 40,000 bytes of memory divided into two partitions—one for program storage
and the other for a future product feature. The default allocation for the 6270 is 39,000 bytes
for program storage. The remaining 1,000 bytes is reserved.
Programs defined with the DEF command are stored in the memory allocated for program
storage.
CAUTION
Using a memory allocation command (e.g., MEMORY39ØØØ,1ØØØ) will erase all existing
programs. However, issuing the MEMORY command by itself (i.e., MEMORY—to request the
status of how the memory is allocated) will not affect existing programs.