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6000 Series Programmer's Guide
Compiled Motion — Sample Application 2
Here’s an example of replacing a mechanical cam using a compiled Following profile. There is
evenly spaced product coming in on a feeder belt. The feeder belt may vary in speed. The cam
that you are replacing controls a push arm that will push the product into a box for shipping.
You would also like the arm to retract at a faster rate than it extends. In other words, you
would like to have a smooth push to load and a fast retract to set up for the next product.
Since this is a cam, this profile must repeat continuously for each product or master cycle but
won’t start until the first product is detected.
Product
Product
Detecter
Push Arm
Box
The feeder belt is the master and the master cycle length (space from the front of one product
to the front of the next) is 12000 master (encoder) counts on the feeder belt. The push of the
product will start 2000 counts into the master cycle. The push will take place over 6000
master counts, and the retract over 2000 master counts. The distance the push arm (slave)
must travel is 4000 counts. Assume the detector is wired to trigger A. Below is a graph of
this Following profile.
Profile
1
Ratio
Master Distanc
e
0
2
3
2000 8000 10000 12000
D(slave) = 4000
D(slave)
= -4000
Program
; Setup code
FOLMAS21 ; Master is coming in on encoder 2
FOLEN1 ; Enable Following
INFNC17-H ; Assuming input 17 is trigger A (1 axis products)
INFEN1 ; Enable inputs
; Motion program
DEL EXPL2 ; Delete program (in case it already exists in memory)
DEF EXPL2 ; Begin definition of program example 2
TRGFNA1 ; Launch profile upon receiving trig A
; (1st product detected)
PLOOP0 ; Loop continuously to mimic a mechanical cam
; Program first move - dwell
FOLRN1 ; Set up ratios - numerator
FOLRD1 ; and denominator
FOLMD2000 ; Over a distance of 2000 master steps
D0 ; slave will not move
FOLRNF0 ; and end at zero ratio
GOBUF1 ; Build motion
- Compumotor 1
- (non-German speaking) 2
- Technical Assistance 2
- Change Summary 3
- (SEE_PG._97_OR_101) 4
- (SEE_PG._163) 4
- (SEE_PG._153) 4
- Continued on next page 5
- Change Summary, page 4 6
- Change Summary, page 5 7
- New Commands in Revision 4.x 8
- TABLE OF CONTENTS 9
- Chapter 5. Custom Profiling 10
- Chapter 6. Following 11
- Chapter 7. Troubleshooting 11
- O V E R V I E W 12
- Programming Examples 13
- Reference Documentation 13
- Before You Begin 14
- Support Software 14
- Motion Architect 14
- Technical Support 15
- CHAPTER ONE 16
- Fundamentals 16
- (see illustration below) 17
- Command Syntax 18
- Overview 18
- INEN Input Enable 19
- General Guidelines for Syntax 20
- Command Value Substitutions 21
- Bit Select 22
- Operator 22
- Binary and Hex 22
- Creating Programs 23
- Program Editor 24
- Terminal Emulator 24
- Executing 26
- Programs 26
- Storing Programs 27
- Memory Allocation 27
- Checking Memory Status 28
- Executing Programs (options) 29
- Program Security 30
- DRIVE connector 32
- Using Numeric Variables 34
- Example Response 35
- Operations 36
- Using Binary Variables 37
- Flow Control 40
- Expression 40
- Conditional 42
- Branching 43
- Error Handling 45
- How to Remedy the Error 46
- Error Program Set-up Example 47
- (Stand-Alone Products Only) 48
- CHAPTER TWO 50
- Chapter 2. Communication 52
- Download upon 54
- System Power-up 54
- Download from a 54
- Batch File 54
- Download from the 55
- Application Program 55
- Terminal Emulation 56
- Preventing the output 57
- These bits report the current 58
- Fast Status, Servos 59
- Reading The Fast 59
- Status Register 59
- Continued on next page 62
- Customizing the 63
- Fast Status 63
- Register 63
- DDE6000™ 65
- (Dynamic Link Libraries) 66
- Visual Basic™ Support 67
- DLL Functions for 69
- Visual Basic 69
- Application 72
- Visual C++™ Support 73
- Visual C++ 75
- Motion OCX Toolkit™ 77
- PC-AT Interrupts 78
- How to Use Interrupts 80
- Output-Buffer-Has-Data 81
- Input-Buffer-Empty 81
- General-Purpose 81
- Status-Updated 81
- Important 82
- Considerations 82
- Head Tail 83
- Interrupt Driver 84
- Configuring the COM Port 85
- Setup for 6000 86
- Language or 86
- RS-232C Daisy-Chaining 87
- Program: 89
- Daisy-Chaining and RP240s 89
- Sample portion of code: 89
- CHAPTER THREE 92
- Using a Setup Program 94
- Resetting the Controller 94
- Drive Setup 95
- (servos only) 97
- (610n only) 97
- Axis Scaling 98
- Scaling Examples 101
- Positioning Modes 102
- Preset Positioning Mode 103
- Continuous Positioning Mode 104
- Example A 104
- Example B 104
- End-of-Travel Limits 105
- (Using the Home Inputs) 106
- (steppers only) 110
- Stall Deadband 111
- Encoder Set Up Example 111
- Examples 111
- Use the Encoder as a Counter 111
- Encoder Polarity 112
- Programming 112
- Scenario (as seen in 112
- Commanded Direction Polarity 112
- Servo Setup 113
- Servo Tuner User Guide 114
- Feedback Device Polarity 115
- DAC Output Limits 117
- Servo Control Signal Offset 117
- Servo Setup Examples 118
- Target Zone Mode 120
- Variables 121
- Program Flow Control 121
- Synchronizing Motion 121
- Program Interrupts 121
- Programmable I/O Bit Patterns 122
- Input Functions 123
- Input Debounce 124
- No Function 124
- BCD Program 125
- Pause/Continue 126
- Position Capture 127
- Trigger Functions 128
- Registration 129
- One-to-One 130
- Program Select 130
- Output Functions 131
- Command Response 132
- (n/a to OEM-AT6400) 133
- Output on 134
- Position 134
- Variable Arrays ( 135
- variable data) 135
- More on variables: 135
- Initialize a Data Program 138
- Define the TEACH Subroutine 138
- CHAPTER FOUR 140
- IN THIS CHAPTER 140
- WARNING 141
- Stand-Alone Interface Options 142
- Programmable Logic Controller 142
- Host Computer Interface 142
- Programmable I/O Devices 143
- Thumbwheels 144
- RP240 Remote Operator Panel 145
- Configuration 146
- Operator Interface Features 146
- Using the Default Menus 147
- Power-up 148
- Running a 149
- Stored Program 149
- System & Axis 150
- I/O, Limits 151
- Access Approved 152
- Joystick and Analog Inputs 153
- Joystick 154
- Control Inputs 154
- Feedrate Override 156
- ANI Analog Input Interface 157
- TO ORDER 159
- , contact your local 159
- CHAPTER FIVE 160
- S-Curve Profiling 161
- Chapter 5. Custom Profiling 162
- Timed Data Streaming 163
- (continued) 166
- Linear Interpolation 167
- Path Definition 168
- Participating Axes 169
- Segment End-point Coordinates 170
- Line Segments 171
- Arc Segments 172
- Segment Boundary 173
- Using the C Axis 174
- Using the P Axis 174
- Outputs Along the Path 175
- Compiling the Path 175
- Executing the Path 176
- Possible Programming Errors 176
- 6000 Code 177
- Compiled Motion Profiling 178
- Compiled Following Profiles 181
- Distance 182
- Calculations For 182
- Compiled 182
- Following Moves 182
- Dwells and Direction Changes 183
- Related Commands 184
- Master Distanc 187
- Modification 188
- / FOLMD = 1366 / 834 = 1.638 191
- Repetitive 192
- Portion of 192
- (pre-emptive GOs) 193
- OTF Error Conditions 194
- (portion 196
- Velocity 199
- Conditional “GO”s (GOWHEN) 201
- (Compiled 203
- Motion is discussed on 203
- Trigger Functions (TRGFN) 204
- CHAPTER SIX 206
- Introduction 207
- (see also page 33) 208
- Implementing Ratio Following 209
- Chapter 6. Following 210
- Steppers 211
- If an axis is in the 211
- Continuous 214
- Positioning 214
- Mode Moves 214
- Performing Phase Shifts 216
- FSHFC Example 217
- FSHFD Example 218
- (code portion) 219
- (Continued) 220
- Master Cycle Concept 222
- TRG-B) goes active 223
- Master Position Prediction 229
- Master Position Filtering 229
- Following Error 230
- (Servos Only) 233
- (Steppers Only) 233
- Repeatability of 234
- Inputs and 234
- Trapezoidal 235
- Rectangular 235
- Setups used by 236
- S (Stop) & K (Kill) 236
- Commands 236
- (Servos only) 237
- (see also Chapter 7) 238
- Error Messages 239
- Following Commands 240
- CHAPTER SEVEN 242
- Troubleshooting Basics 243
- Solutions to Common Problems 243
- Chapter 7. Troubleshooting 244
- (n/a to OEM-AT6n00) 245
- Program Debug Tools 246
- Status Commands 247
- List of All Status 250
- Example Error 253
- Scenario 253
- Trace Mode 254
- Single-Step Mode 255
- Simulating I/O Activation 255
- User instructions are 257
- Downloading Error Table 258
- Product Return Procedure 259
- I N D E X 260
- (see contouring) 263
- (see linear interpolation) 263
- TEST.EXE) 38 266
- Basic Setup 268
- General Programming 268
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