Bosch 6000 User's Guide download pdf (Page 23)

6000 Series Programmer's Guide

Operator

Symbols

Command arguments include special operator symbols (e.g., +, /, &, ', >=, etc.) to perform

bitwise, mathematical, relational, logical, and other special functions. These operators are

described in detail, along with programming examples, at the beginning of the Command

Descriptions section of the 6000 Series Software Reference.

Programmable Inputs and Outputs Bit Patterns

I/O pin outs,

specifications, and

circuit drawings are

provided in each 6000

Series product's

installation guide.

The total number of inputs and outputs (I/O) varies from one 6000 Series product to another.

Consequently, bit patterns for the programmable I/O also vary by product. For example, the

AT6400's TRG-A trigger input is represented by programmable input bit #25, but the 6104's

TRG-A trigger input is bit #17. Bit numbers are referenced in commands like

WAIT(IN.13=b1), which means wait until programmable input #13 becomes active. To

ascertain your product's I/O offering and bit patterns, refer to Chapter 3 (page 107).

Creating Programs

A program is a series of commands. These commands are executed in the order in which they

are programmed. Immediate commands (commands that begin with an exclamation point [!])

cannot be stored in a program. Only buffered commands may be used in a program.

Debugging Programs:

Refer to page 231 for

methods to isolate and

resolve programming

problems.

A subroutine is defined the same as a program, but it is executed with an unconditional branch

command, such as GOSUB, GOTO, or JUMP, from another program (see page 23 for details

about unconditional branching). Subroutines can be nested up to 16 levels deep. NOTE: The

6000 family does not support recursive calling of subroutines.

Another kind of program is a compiled profile. Compiled profiles are defined like programs

(using the DEF and END commands), but are compiled with the PCOMP command and executed

with the PRUN command. A compiled profile could be a multi-axis contour (a series of arcs

and lines), an individual axis profile (a series of GOBUF commands), or a compound profile

(combination of multi-axis contours and individual axis profiles). For more information on

contours, refer to Contouring in Chapter 5, page 153. For more information on compiled

individual axis profiles, refer to Compiled Motion Profiling in Chapter 5, page 163.

Program Development Scenario

To best understand the process of developing 6000 programs, we invite you to follow along

on a program development scenario. The scenario covers these programming tasks:

1. Set up the programming environment (using Motion Architect's Editor and Terminal).

2. Create a simple motion program in the Editor.

3. Download the program, via the Terminal, to the controller.

4. Execute (run) the program from the Terminal.

5. Edit the program, redownload it, and run it again.

1. Set up Motion

Architect.

Typically, the programming process is an iterative exercise in which you create a program,

test it, edit it, test it ... until you are satisfied with the results. To help with this iterative

process, we suggest using Motion Architect's Editor and Terminal modules in a side-by-side

fashion (open an Editor session and a Terminal session and re-size the windows so that you

can see both at the same time). In doing so you can quickly jump back and forth between

editing a program (Editor function) and downloading it to the product and checking

programming responses and error messages (Terminal functions).

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Bosch 6000 User's Guide Page 23

Comments to this Manuals

Bosch 6000 User's Guide Page 23

Comments to this Manuals

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