Bosch 6000 User's Guide Page 262
- Page / 268
- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
Rated. / 5. Based on customer reviews
Index
247
debugging tools 231
analog channel voltages, simulating
242
error messages 236
from RP240 134
I.D. bad command 238
I/O activation, simulating 240
problem/cause/solution table 228
single-step mode 240
status commands 232
trace mode 239
deceleration
change on the fly 87, 178
S-curve profiling 146
scaling 84
scaling, Following 196
units of measure 87
defining a program 9
delimiters
command 5
comment 5
detecting a stall 96
stall indicator output 118
device address,
see address
device driver, dynamic link library
(DLL) 51
direction, changes in compiled motion
168
distance
calculations, Following 220
compiled moves 167
change on the fly 87, 178
fractional step truncation 85, 197
registration 182
scaling,
see scaling
streaming 148
status 233
units of measure 87
dithering motors & hydr valves & 101
DLL 51, 144
function descriptions for Visual
Basic 52
function descriptions for Visual C++
58
DOS support software iv, 37
download program (from Motion
Architect) 10
downloading application programs from
DOS prompt 41
downloading, operating system
from application programs 40
from DOS 39
C 40
error 39, 243
methods 39
PASCAL 40
from Motion Architect iii
LED status 230
problems 230
drive 126
6104 internal drive config. 82
fault input
active level (DRFLVL) 80
enable 80
status 233
on/off status 137
resolution 81
effect on contouring 81, 154
effect on Following 221
drive
(continued)
shutdown
LED status 230
on kill 82, 111
dwells & direction changes, compiled
motion 168
dynamic data exchange (DDE) server
50
dynamic link libraries (DLLs) 51
dynamic position maintenance 216
effect on accuracy 218
E
electrical noise,
see Installation Guide
electronic gearbox application 204
electronic I/O devices 130
electronic viscosity 82
electronics concepts ii
enable input
as safety feature 126
status 233
enable or disable Following 198
status 193
while moving 222
encoder
encoder step mode (ENC1) 95
feedback for steppers 95
polarity reversal
servos 100
steppers 97
position 136
capture 112
resolution 95
setup example
servos 103
steppers 96
Z channel 91
end point
contouring 155
linear interpolation 152
end program/subroutine/path definition
(END) 9
end-of-move settling 105
end-of-travel limits,
see limits, end of
travel
error
clearing 31
error handling 30
downloading errors 243
error level for daisy chains 72
related to safety 126
error messages 236
Following specific 224
Following (PER) 215
position (dynamic pos.
maintenance) 216
program, assignment 30
status 234
example programs ii
executing programs
see program,
execution options
F
fast status registers 43
customizing 48
fault output 118
feedback about this manual i
feedback source, changing (servos)
222
feedrate override 141
field separator (,) 5
filtering, master position,
see master,
master position filtering
firmware revision, check with RP240
137
Following 192
commands, list of 225
compiled Following profiles 166
conditions used in conditional
expressions 27
enable or disable 198
status 193
while moving 222
error 215
performance considerations 193
prerequisites to Following motion
194
Ratio Following introduction 192
set-up parameters 194
status 193, 234
technical considerations 213
fractional step truncation 197
full or half step start/stop velocity 82
G
gains, servo tuning 99
view & edit from RP240 133
general purpose interrupt 68
global command identifier (@) 5
GOSUB 23
GOTO 23
GOWHEN 186
cleared by stop or kill 221
error condition 234
using PMAS 209, 223
via trigger input 113, 189
GUI development tools 144
H
hard limit,
see limits, end-of-travel
hardware interrupts 64
head pointer 68
helical interpolation 155, 159
Help (technical support services) iv,
244
hexadecimal identifier (h) 22
Homing 91
home limit,
see limits, home
status 233
zeroing the absolute position 91
host computer operation 143
I
I/O activation (simulation) 240
I/O device interface 128
IF 24
using PMAS 209, 223
IM32 module 129
immediate commands 3, 89
not stored in programs 8
immediate data read from RP240 27
immediate stop 89
- 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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