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6000 Series Programmer's Guide
Registration – Sample Application 1
In this example, two-tiered registration is achieved (see illustration below). While axes 1 is
executing it's 50,000-unit move, trigger input A is activated and executes registration move A
to slow the load's movement. An open container of volatile liquid is then placed on the
conveyor belts. After picking up the liquid and while registration move A is still in progress,
trigger input B is activated and executes registration move B to slow the load to gentle stop.
DEL REGI1 ; Delete program (in case program already resides in memory)
DEF REGI1 ; Begin program definition
INFNC25-H ; Define input #25 (trigger A) as a trigger interrupt input
INFNC26-H ; Define input #26 (trigger B) as a trigger interrupt input
INFEN1 ; Enable programmable input functions defined with INFNC command
ENC0x ; Set positioning mode to motor step mode
(FOR STEPPERS ONLY)
A20 ; Set acceleration on axis 1 to 20 units/sec
2
AD40 ; Set deceleration on axis 1 to 40 units/sec
2
V1 ; Set velocity on axis 1 to 1 unit/sec
REGA4000 ; Set trigger A's registration distance on axis 1 to 4000 units
; (registration A move will use the ENC, A, AD, & V values above)
ENC0x ; Set positioning mode to motor step mode
(FOR STEPPERS ONLY)
A5 ; Set acceleration on axis 1 to 5 units/sec/sec
AD2 ; Set deceleration on axis 1 to 2 units/sec/sec
V.5 ; Set velocity on axis 1 to 0.5 units/sec
REGB13000 ; Set trigger B's registration distance on axis 1 to 13,000 units
; (registration B move will use the ENC, A, AD, & V values above)
RE10 ; Enable registration on axis 1 only
A50 ; Set acceleration to 50 units/sec/sec on axis 1
AD50 ; Set deceleration to 50 units/sec/sec on axis 1
V10 ; Set velocity to 10 unit/sec on axis 1
D50000 ; Set distance to 50000 units on axis 1
GO10 ; Initiate motion on axis 1
END ; End program definition
Velocity
Distance
Trigger A
Activated
Trigger B
Activated
0 20,000
0
2
4
6
8
10
Pick up
container
- 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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