Bosch 6000 User's Guide download pdf (Page 253)

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6000 Series Programmer's Guide

Identifying Bad

Commands

To facilitate program debugging, the Transfer Command Error (TCMDER) command allows

you to display the first command that the controller detects as an error. This is especially

useful if you receive an error message when running or downloading a program, because it

catches and remembers the command that caused the error.

Using Motion Architect:

If you are typing the command in a live Motion Architect terminal emulator session, the

controller will detect the bad command and responds with an error message, followed by the

ERRBAD error prompt (?). If the bad command was detected on download, the bad command

is reported automatically (see example below).

NOTE: If you are not using Motion Architect, you'll have to type in the TCMDER command

at the error prompt to display the bad command.

Once a command error has occurred, the command and its fields are stored and system status bit

#11 (reported in the TSSF, TSS and SS commands) is set to 1, and error status bit #16

(reported in the TERF, TER and ER commands) is set to 1. The status bit remains set until

the TCMDER command is issued.

Example Error

Scenario

1. In Motion Architect's program editor, create and save a program with a programming error:

DEL badprg ; Delete a program before defining and downloading

DEF badprg ; Begin definition of program called badprg

MA11 ; Select the absolute preset positioning mode

A25,40 ; Set acceleration

AD11,26 ; Set deceleration

V5,8 ; Set velocity

VAR1=0 ; Set variable #1 equal to zero

GO11 ; Initiate move on both axes

IF(VAR1<)16 ; MISTYPED IF STATEMENT - should be typed as "IF(VAR1<16)"

VAR1=VAR1+1 ; If variable #1 is less than16, increment the counter by 1

NIF ; End IF statement

END ; End programming of program called badprg

2. Using Motion Architect's terminal emulator, download the program to the 6000 Series

product. Notice that an error response identifies the bad command as an “INCORRECT

DATA

” item and displays it:

> *NO ERRORS

*INCORRECT DATA

> *IF(VAR1<)16

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Bosch 6000 User's Guide Page 253