Bosch 6000 User's Guide Page 263
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- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
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248
6000 Series Programmer's Guide
in position input, effect on command
execution 17
in position output 117
incremental positioning mode 88
initial master cycle position 208
input buffer is 256 bytes 50
input ring buffer 68
input-buffer-is-empty interrupt 68
inputs 107
analog 138, 141
ANI option 142
application example 127
overriding 140
bit patterns 107
drive fault 126
active level (DRFLVL) 80
status 233
enable (ENBL) 126
status 233
encoder,
see encoder
end-of-travel limits 89, 90, 126
home limits 91
jogging 114
joystick 138
kill 111
limits 90
no function 109
one-to-one program select 115
pause/continue 111
PLC 130
program security 116
program select 110, 115
programmable 106, 128
bit patterns 107
debounce time 109
enable functions (INFEN),
effect on system
performance 33
function assignments 108
interrupt to PC-AT 114
kill 89
operand (IN) 25
pause/continue, effect on
command buffer 17
polarity 106
problems 231
program security 15
simulating activation 240
status 106, 108, 136
stop 89
update rate 106
pulse cut (P-CUT) 126
status 233
stop 111
thumbwheel 129
triggers
debounce time 109
position capture 112
problems 231
programmed functions (TRGFN)
113
update rate 106
user fault 112, 126
interface options 127
interface routines 42
interpolation
circular/contouring
(see contouring)
linear
(see linear interpolation)
interrupts
conflict 228
enable within AT6nnn 63
enable within PC-AT 64
general-purpose 67
how to use (step-by-step) 65
important considerations 67
input-data-buffer-empty 67
interrupt driver 69
interrupt path 63
interrupt service routine (ISR) 63
maskable 64
output-buffer-has-data 67
PC-AT 63
programmable input function 114
program (ON conditions) 29
status-update 67
terminal emulator 68
vectors 64
J
jerk, acceleration, reducing 146
jogging 114
negative direction (INFNCi-aK) 114
positive direction (INFNCi-aJ) 114
RP240 jog mode 134
speed select hi/low (INFNCi-aL) 114
status 134
velocity 134
high (JOGVH) 114
low (JOGVL) 114
joystick
analog inputs 138
status from RP240 136
voltage override 140
application example 122, 127
center deadband 138
center voltage 138
Daedal JS6000 138
inputs 139
status 233
status from RP240 136
interface 127, 138
problems 230
select input 138
velocity resolution 138
voltage override 140, 242
JS6000 joystick 138
JUMP 23
K
kill
assigned input function 89, 111
effect on command execution 16
effect on drive 82, 111
effect on Following motion 221
kill on stall 96
L
labels ($) 23
LabVIEW VIs 144
last motion segment, compiled
motion165
LDT
distance scaling 85
position 136
read error 229, 234
LEDs 230
RP240 130
left-to-right math 5
length, master cycle 207
limit to DAC output 102
limits
end-of-travel 90, 126
effect on command buffer and
program execution 17
status 233
used as basis to activate output
118
home 91
status 136
line feed, command delimiter 5
line segments 153, 156
linear interpolation 152
acceleration scaling 84
distance scaling 85
end point 152
velocity scaling 84
local coordinate system 156
lockout distance for registration 182
logical operators 25
loops
conditional 27
unconditional 23
M
master
definition of 194
status 193
direction, status of 193
distance
move calculations 220
programming (FOLMD) 198
master cycle
concept 207
counting 207
restart 208
status 207
length 207
number 209
position 207
assignment/comparison
(PMAS) 209
initial 208
rollover 207, 223
synchronizing 210
transfer (TPMAS) 209
status 193
master input (A.K.A.) 192
master position filtering 193, 214
effect on accuracy 218
effect on phase tracking 218
effect on position accuracy 217
status 193, 213
master position prediction
mode193, 214
effect on accuracy 218
status 193, 213
move profiles 199
moving, status of 193
ratio to slave 198
status 193
resolution 217
scaling 196
velocity 193, 214
- 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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