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C
communication (continued)
C (tangent) axis, contouring 154, 159
C program, downloading from 40
CAD-to-motion software iv, 2
capture positions (motor, encoder,
ANI, LDT, commanded) 112
carriage return, command delimiter 5
case sensitivity 5
CCW end-of-travel limits, see limits,
end-of-travel
center joystick position 138
center specified arcs 158
change summary i
characters
command delimiters 5
comment delimiter 5
field separators 5
limit per line 5
neutral (spaces) 5
checksum 33
circles 158
circular buffers 68
closed-loop operation, steppers 95
COM ports, controlling 70
commanded direction polarity
servos 101
steppers 97
commanded position
absolute position reference 88
slave, tracking error 215
status 234
commands
4.x (new), see Change Summary
buffer 89, 111
after pause 111
after stop 111
command buffer execution
after end-of-travel limit
(COMEXL) 17
after in-position signal
(COMEXP) 17
after kill (COMEXK) 16
after pause/continue input
(COMEXR) 17
after stop (COMEXS) 17
continuous (COMEXC) 16
command value substitutions 6
delimiters 3, 5
errors in programming 238
executed during motion 178
Following (list of) 225
immediate 3, 89
restricted execution during motion
18
setup command list 78
status 232
syntax 3
comment delimiter 3, 5
communication
AT bus registers 43
controlling multiple serial ports 70
DDE server 50
DLLs 51
DOS support software iv, 37
downloading 39
terminal emulation 41
interrupt 63
Motion Architect iii
246
6000 Series Programmer's Guide
OCX toolkit 62
problems 228
RS-232C daisy-chaining 72
RS-485 multi-drop 75
via RP240 terminal 131
compiled motion 163
compare with on-the-fly motion
changes 169
Following profiles 166
related commands 169
sample applications 170
CompuCAM™ iv, 2
computer interrupts 63
conditional branching 24, 28
conditional expression examples 25
conditional GO 186
pending trigger input 113, 189
conditional looping 24, 28
conditional statements using PMAS
209
configuration
6104 internal drive 82
address 73
closed-loop stepper setup 95
DAC output limits 102
disable drive on kill 82
dither 101
drive fault level 80
drive resolution 81
end-of-travel limits 90
feedback device polarity 100
Following setup 194
homing 91
inputs 108
jogging 114
joystick 138
memory allocation 12
outputs 116
participating axes 79
positioning modes 87
scaling 83
servo control signal offset 102
servo setup 98
setup commands, list 78
setup program 14
start/stop velocity 82
step pulse (steppers) 81
target zone 105
thumbwheel 129
tuning 99
variable arrays 120
continue (!C) 111
continue execution on pause/resume
(COMEXR) 17, 111
continue execution on stop (COMEXS)
17, 111
continue input 111
continue key on RP240 130
continue, effect on Following motion
222
continuous command execution mode
(COMEXC)
effect in continuous positioning
mode 89
continuous cut-to-length application
211
continuous positioning mode 87, 89
Following 199, 219
distance calculations 220
contouring 153
acceleration 155
scaling 84
affected by drive resolution 81,
154
affected by pulse width 81
arcs 157
C axis 153, 154, 159
circles 158
compiling a path 160
deceleration 155
scaling 84
defining a path 153
distance, scaling 85
effected by pulse width 154
endpoints 155
executing a path 161
helical interpolation 155, 159
lines 156
local coordinates 156
memory allocation 12
outputs along path 160
P (proportional) axis 153, 154,
159
participating axes 154
programming errors 161
scaling 83
segment boundary 158
stall 159
velocity 155
scaling 84
work coordinates 156
controlling multiple serial ports 70
correction, velocity 216
counter 96
value, assignment/comparison
(CNT) 26
counting, master cycle, see master,
master cycle
current standby mode 82
current waveform 82
CW end-of-travel limits, see limits, endof-travel
D
DAC output, limiting 102
daisy-chain 72
including RP240 74
data
fields, in command syntax 4
read from serial port or PC bus 26
read from the RP240 26
teach to variable arrays 120
datapoint, streaming 148
DDE6000 (DDE server) 50, 144
deadband
joystick 138
position maintenance 95
stall 96
debounce time
position capture 112
program select input 110
programmable inputs 109
registration input 182