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User's Guide
Bosch 6000 User's Guide Page 205
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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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