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1. Page 108 of 113 RGBINSP00018051 genomes gee RE OE ER REA Motion Toolbox User Guide Miscellaneous Transfers Transfers miscellaneous status information from the 6000 controller Ez Transfer type 0 Transfer the command an error l Transfer software revision information 2 Transfer memory usage status Response The transferred response to the speci Addr poit fdefault Addi port out Response Error Transfer type 0 cmd error if any the controller has detected as fied query 6000 command reference TCMDER TREV TMEM Page 106 Variable amp Transfer Vis ve EE MANO Ee NET TR LP ACA decd ae ges AES anal NC m M d auior ten ee TX P dee mu sr sma cage ET et D PEN 13 i d ROB PONIN Mation Toolbox User Guide Appendix Motion Toolbox Error Codes Get DLL procedure address failed Verify WING400 DLL version is compatible with this version of Motion Toolbox Get indirect handle failed Verify WIN6400 DLL version is compatible with this version of Motion Toolbox AT6400 Operating System not loaded Load AT6400 Operating System before executing any other Motion Toolbox VIs Timeout while communicating with AT6400 Ensure AT6400 is in computer and address specified is correct Verify 6000 device functions properly with Compumotor s Motion Architect Load AT6400 ope
2. Motion Toolbox VI Index alphabetical initiate Motion Jaystick Status Parse Kill Motion eese Limit Input Status Parse Miscellaneous Transfers Motion Status Parse 49 Motor Position Parse Numeric Event Open 6200 Open AT6400 Other Input Parse Pos Captured Status Parse Position RP240 Cursor Receive 6000 Block Reset 6000 eese Run Program Send 6000 Block Set 6000 input Active Level Set 6000 Input Debounce Time Set 6000 Input Function 61 Set 6000 Output Active Level 63 Set 6000 Output Function 64 Set 6000 Output States Set 6200 Polling Parameters Set Absolute Incremental Mode Set Acceleration eee esee BB Set Analog input Override Voltage 70 Set AT6400 Polling Parameters 35 Set Binary Variable ss Set Binary Variable by Byte Set Continuous Preset Mode Set Deceleration 88 Set Default Addr Port Set Direction Set Drive Fault Level 20 Set Drive Resolution 20 Set Encoder Pos Local Scaling 43 Set Encoder Resolution 23 Set Encoder Motor Step Mode 24 Set Error Action 34 Set Jog Acceleration Set Jog Deceleration Set Jog Velocity High Set Jog Velocity Low Page 109 Page 112 of 113 RGBINSP00018055 HOT ae AS I M
3. ENS ane 1 of 113 rage RGBINSP00017974 Motion Toolbox User Guide Home Active Level defines the active state of the home input True Active level is high False Active level is low Home to Z ch enables homing to an encoder Z channel after the initial home input has gone active True Enable home to Z channet False Disable home to Z channel Cem Home Backup is a cluster of controls that dictates home backup configuration The cluster contains the following variables Backup Enable Enables or disables the home backup facility True Enable home backup False Disable hame backup Final Direction specifies the direction of travel a motor will take upon its final approach of the homing sequence True Set final direction to counter clockwise False Set final direction to clockwise Final Velocity specifies the velocity to use when the home algorithm does its final approach Valid range is 0 to 1 600 000 steps per second Ref Edge specifies which edge of the home switch the homing operation will consider as its final destination True Define counter clockwise edge as final destination False Define clockwise edge as final destination Home Motion is a cluster of double precision values that specify the ei velocity acceleration and deceleration respectively to use when the home algorithm begins its initial go home move 6000 command reference HOMA HOMAD HOMBAC HOMDF HOMEDG HOMLVL
4. Page 2 Introduction Motion Toolbox User Guide If any of these items are missing please contact your local supplier or Compumotor s Customer Service Department at 800 358 9068 or 707 584 7558 Software Requirements LabVIEW for Windows version 3 0 See the Required System Configuration in the LabVIEW for Windows Release Notes Motion Architect version 2 2 or higher If you are using an AT6400 Controller you need software revision 2 2 or higher of the AT6400 operating system Ifyou are using a 6200 Controller you need software revision 2 1 or higher of the 6200 system software i Pre Installation Procedure 1 Install your 6000 Series controller as indicated in the Compumotor User z Guide for your product 2 Install Motion Architect 2 2 if it is not already on your computer 3 Using Motion Architect ensure the 6000 controller functions properly For help refer to the Motion Architect documentation shipped with your controller 4 Copy the following files from your Motion Architect 2 2 or higher directory to your LabVIEW root directory WIN6400 DLL METER DLL e AT6400 0PS Warning Motion Toolbox cannot communicate with the AT6400 i controller without these files in the LabVIEW root directory Warning It is important that the same WING400 DLL METER DLL and AT6400 OPS files exist in both the Motion Architect directory and LabVIEW root directory If the files are not the same conflicts may
5. He Cio Sandi 3 I 1 qe Debounce time For a general purpose input Debounce time specifies the amount of time the input must be held in a certain state before the 6000 Series controller recognizes it This directly affects the rate at which the inputs can change state and be recognized For a trigger input Debounce time specifies the time required between a trigger s initial active transition and its secondary active transition This allows rapid recognition of a trigger but prevents Subsequent bouncing of the input causing a false position capture or Tegistration move 6000 command reference INDEB Set 6000 Output Active Level Immediate T poesia Execute VI T Addi pott defauk Output byte 1 no change Output byte 2 no change i F utput byte 3 no change Defines the active state of all programmable outputs The default state is active low The active level can be defined for each output individually Output byte 1 3 are clusters of eight 32 bit integers that specify the active state of the corresponding output Each cluster is ordered from the least significant input to the most significant The eight clustered integers are interpreted as follows 0 Set output to active low 1 Set output to active high 2 Do not change current setting 6000 command reference OUTLVL VO amp Limit Vis Page 63 Motion Toolbox User Guide pae IE
6. ithe i sit ded O v Page 3 of 113 RGBINSP00017946 Copyright Under copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or part without the prior written consent of Snider Consultants Inc Trademarks Motion Toolbox is a trademark of Snider Consultants Inc Motion Architect is a registered trademark of Parker Hannifin Corporation Compumotor Division LabVIEW is a registered trademark of National Instruments Corporation Windows is a registered trademark of Microsoft Corporation Page 4 of 113 RGBINSP00017947 Introduction wedlvusCedeees Mitre acta a cena aeii inaia is tees T Overview tree ersa estet aa road 1 Uu D Uu a sx ND ene em 1 Software Requirements eth enhn he ants lasil 2 Pre Installation Preedui uo uud Installation JUR d E M Lr IN aid Motion Toolbox Registration deor Bordera Getting Started MM Mu LI MR 3 Related Duc ren ae 5 Using Motion Toolbox ML Device ERE LC D n UR 7 Common VI KON LLL gon T 7 Motion Toolbox Error LENT Lue LE da 9 6000 Controller Error Hending os uecua geet I 9 Reducing VI load TIE e ep es id Timer Resolution Graa M 10 Vi Labeling END ee Q dae 10 Bold and Non bold I 10 Default las E NN HM UD 10 Cou
7. 4 om pum otor h j baii E i 1 3 3 1 1 Li i li E 3 ETE T T Ei a 5 iB 11 Motion Toolbox User Guide A Library of LabVIEW Virtual Instruments for Mation Control Developed by Snider Consultants Inc Compumotor Division Parker Hannifin Corporation pin 88 013929 01 A ABB Inc EXHIBIT 1013 Page 1 of 113 RGBINSP00017944 1 li a i Motion Toolbox User Guide A Library of LabVIEW Virtual Instruments for Motion Control Version 1 0 March 1994 Part Number 88 013929 01 v CONSULTANTS Copyright 1994 Snider Consultants Inc All Rights Reserved Ue ets E ES 3 DX ea 2 of 113 Page RGBINSP00017945 OPER 11 1l AM H id i 1 t 1 a RSEN Soe waa Ns H 3 3 D E ir j D i L d l1 Li d Warnings Because software controls machinery test any software control for safety under all potential operating conditions Failure to do so can result in damage to equipment and or serious injury to personnel Limited Warranty Compumotor warrants that the software will perform substantially in accordance with the accompanying material for a period of ninety 90 days from the date of receipt Any implied warranties on the software are limited to ninety days Some states do not allow limitations on duration of an implied warranty so the above limitation may not apply to you Com
8. 6000 command reference VARB Set String Variable Immediate T Execute VI T i Addr poit default xag Addr pert aut Variable 1 ur Variable text Enor Sets the contents of a string variable To retrieve the contents of a string variable use the Transfer String Variable VI 132 Variable Specifies the variable to set Valid range is 1 to 25 Variable text is the text to assign to the variable Strings can be up to 20 characters in length Do not include quotes semicolons or colons in the string 6000 command reference VARS Transfer Numeric Variable Addr part default aumerid Addr port out Variable 1 Value Error Transfers the contents of a numeric variable from the 6000 controller To set the contents of a numeric variable use the Set Numeric Variable VI Variable amp Transfer Vis Page 103 eres i Page 106 of 113 RGBINSP00018049 Motion Toolbox User Guide 32 Variable to transfer Valid range 1 to 100 Value transferred 6000 command reference VAR Transfer Binary Variable Addr port defaut Variable n Contents of a binary variable from the 6000 Controller To set the contents of a binary Variable use the Ser Binary Variable or Set Binary SZ Variable to transfer Valid range is 1 to 25 Value transferred 6000 command reference VARB Transfer String Variable Addt port defaut Vanable 1
9. response from the 6000 controller when executing commands that elicit a response e g query oriented commands u Polling Interval specifies the amount of time in milliseconds between checking for a response during query and transfer operations Data flow out is always true It can be used to force correct sequencing of this VI 6000 command reference N A Device Communication Motion Toolbox User Guide eout limit and Polling interval for AT6400 communications Acceleration precision specifies the number of decimal places to use when sending acceleration values to the 6000 controller ERE mmo Poe BAAR Eile fora p Page 35 1 of 113 rages RGBINSP00017984 Motion T 90lbox User Guide Set 6200 Polling Parameters Timeout Limit 5009 ms Set 200 Polling interval 5 ms Polling Data flow Out always true Data flow out is always true It can be Used to force correct Sequencing of this Vr 6000 command reference N A Send 6000 Block Addr part defauitj 8005 Addr port out mmand S tring CM Etro iz Page 36 Devi evice Communication SEAE AN Bee Page 42 SS ee Motion Toolbox User Guide Receive 6000 Block Addr port defaut 6000 Addi poit out Heceive String Error Receives string from the 6000 controller Receive string is the response text from the 6000 controller
10. 0 Configure axis for preset mode 1 Configure axis for continuous mode 2 Do not change active setting 6000 command reference MC Set Absolute Incremental Mode Immediate T mm 4 Execute VI T em ii Addi poit default Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no change Addr port out Eror Specifies whether subsequent moves are made with respect to the current position incremental or with respect to an absolute zero position 333 Axis 1 4 determines the mode for the respective axis 0 Configure axis for incremental mode l Configure axis for absolute mode 2 Do not change active setting 6000 command reference MA Configuration Vis Page 19 26 of 113 a E Motion Toolbox User Guide Set Drive Resolution immediate T 4 Execute VI T 3 i Addi port default Zi Addr port out Axis 1 no change Axis 2 no change Errat Axis 3 no change Axis 4 no change Configures the step motor controller resolution to match that of the motor drive to which it is attached This is necessary to accurately calculate motor velocities and accelerations The default resolution is 25 000 steps per revolution for Compumotor step motor controllers Axis 1 4 determines the resolution for the respective axis Valid range is 200 to 1 024 000 steps per revolution 6000 command reference DRES Set Drive Fault Level Immediate T ammm E
11. 102 of 113 Page RGBINSPO0018045 Motion Toolbox User Guide Set RP240 Password Immediate T mm Password Number 6000 Sets the RP240 password If the 62XX default password is not changed then the RP240 is not password protected Note This VI is only applicable to the 62XX Password number A number in the range of 1 9999 that defines the RP240 password 6000 command reference DPASS RP240 Display VIs ofan icin tee foe NRI Page 103 of 113 RGBINSP00018046 Variable amp Transfer Vis This chapter contains descriptions of the variable and transfer Vis included with Motion Toolbox The figure below displays the Variable amp Transfer function palette numeric a gass Riis du byter ob col a vati Reni iem um ez pos Variable amp Transfer Function Palette amp Variable amp Transfer VI Descriptions Set Numeric Variable Immediate T 771 Execute VI M 7 i Addi poit default Sumene Addrfport out Variable 1 ral Value 0 Eror able To retrieve the value of a numeric Sets the value of a numeric vari ansfer Numeric Variable Vi variable use the Fr Variable Specifies the variable to set Valid range is 1 to 100 m Value is a real number in the range of 999 999 999 99999 999 999 999 99999 to 6000 command reference VAR Page 101 Variable amp Transfer V
12. Raleigh NC 27612 919 787 8008 Fax 919 571 7985 ett PTS I i d f113 Rage RGBINSP00018054 Analog input Parse Boolean Event Boolean Transition Clear RP240 Display Close Device Command Error Parse Command Snooper Configuration Status Parse Configure Command Control Configure Communications Tracing 39 Configure Encoder Input as Counter 12 Configure Feedrate Override 22 Configure Hard Limits 67 Configure Homing Configure Position Maintenance Configure Soft Limits Configure Stall Detection Define 6000 User Status Delete Trace File Digital Input Parse Digital Output Status Parse Display Variable on RP240 Download 6000 File Drive Status Parse Enable 6000 Input Functions Enable 6000 Inputs n Enable 6000 Output Functions Enable 6000 Outputs Enable 6000 User Status Enable Analog Input Override Enable Communications Tracing Enable Drive Enable Feedrate Override Enable Hard Limits Enable Jog Mode Enable Joystick Mode Wis Enable Position Maintenance Enable RP240 Jog Mode Enable Scale Factors we Enable Soft Limits Enable Stall Detection Encoder Feedback Status Parse Encoder Position Parse X Get Fast Status
13. ccccccceseteceeccnnscce hne sew eae nen nenne teen nnn nnn 33 E Set Error Action Vitvcmsi sees piedi d Set Parameter Precision e 34 Set AT6400 Polling Parameters esee 35 Set 6200 Polling Parameters eee 36 Send 6000 Block ene ee 38 Receive 6000 Block e 37 Query 6000 37 Download 6000 File eee 38 a Enable Communications Tracing 38 B Configure Communications Tracing 38 Delete Trace File e HH 40 1 Command Snooper 40 Fast Status Vls acted eka akens 41 Fast Status VI Descriptions 41 Get Fast Status ccc ce csecsecenen sensu enero ce eemeanenns we 44 Set Motor Pos Local Scaling wee 43 i Set Encoder Pos Local Scaling en 43 Set Velocity Local Scaling ee 44 Motor Position Parse ee 45 Encoder Position Parse cicer enne 45 Velocity Parse ccce eee 46 Pos Captured Status Parse 2e 47 Command Error Parse eeee e 47 Configuration Status Parse wee 48 Encoder Feedback Status Parse eee 48 Hard Limit Status Parse eee eres 49 Motion Status Parse 49 Soft Limit Status Parse enean ene nnne 50 System Status Parse cesse 1 Drive Status Parse we 82 User Status Parse cesee a Pa
14. 6000 command reference N A Query 6000 Addr part default ss Addr port out Prompt Ex Response Query mode 0 full response gt Error Sends a single prompt string to the 6000 controller and returns the response The polling scheme used when querying is dictated by either the Set AT6400 Polling Parameters VI or Set 6200 Polling Parameters VI appropriately i 4 Note Prompts should not include an immediate specifier as it is added automatically Nor should prompts include a command delimiter e g as q i it is added automatically 1 Prompt contains the command string sent to the 6000 controller to E elicit a response Query mode Determines how response string is parsed 0 Return full response l Return all characters between prompt and EOT Response is the response text from the 6000 controller 6000 command reference Transfer Commands Device Communication Page 37 palea E T EA Pate eee Page 43 of 113 RGBINSP00017986 Motion Toolbox User Guide Download 6000 File Addi port default ie Addt port out Complete file path dialog BE Eror Downloads the contents of the specified file to the 6000 This VI opens the specified file beforehand and closes it afterwards The file must contain valid 6000 commands The file can be a list of 6000 series commands or a program or path definition Use Motion Architect to devel
15. Ez Variable to transfer Valid range 1 to 25 String Contents of the variable transferred 6000 command reference VARS Page 104 Variable amp Transfer Vis Page 107 Bee aceite Motion Toolbox User Guide Transfer Captured Positions Addi poit default Addr port aut Trigger A t Captured positions Encoder motar F motor Ener Transfers the current captured encoder or motor positions from the time of the last trigger interrupt After transferring the respective position capture status bit See Pos Captured Status Parse VI is cleared but the position information remains in the register until it is over written by a subsequent position capture front the trigger input To configure inputs to capture positions use the Set 6000 Input Function VI 152 Trigger 0 Transfer captured positions corresponding to the A trigger i Transfer captured positions corresponding to the B trigger 2 Transfer captured positions corresponding to the C trigger 3 Transfer captured positions corresponding to the D trigger EXE Encoder motor True Transfer encoder positions for trigger False Transfer motor positions for trigger Captured positions A cluster of four 32 bit integers indicating the transferred captured positions for axes 1 4 respectively 6000 command reference TPCE TPCM orn one T M Variable amp Transfer Vis Page 105
16. HOMV HOMVF HOMZ Configuration VIs Page 25 i AR ACTI REEE i dis WX Adeste Tum I Rete vum b 2 of 113 TRES RGBINSP00017975 Motion T oolbox User Guide Configure Position Maintenance t Immediate T 4 Execute VI T i Adduport default Ki Axis 1 Deadband no change i ain Factor m dl ax ve no change Deadband Fai no Change sz Gain Factor establishes the error correction vel maintenance move The correction velocity is Position error Valid Tange is 0 to 999 999 Max velocity establishes the maximum Velocity for any position maintenance move Valid Tange is 0 to 1 600 000 units sec Deadband move co Processing should pause unti allowable error as defined wi OCity for the position this value times the Page 26 F i 3 Configuration VIs mM 13 Page 33 a Enable Position Maintenance Immediate T mmm Execute VI T i B Addr port out Axis 1 no change Axis 2 no change Enor Axis 3 no change Axis 4 no change Enables and disables the position maintenance mode for the respective axis This mode is only active while in encoder step mode Setup configurations for each axis are determined with the Configure Position Maintenance VI G Axis 1 4 determines the mode for the respective axis 0 Disable position maintenance mode 1 Enable position maintenance mode 2 Do not change current
17. TANV Limit Input Status Parse End of trave limits is a Cluster of eight actual physical status of the end of trave booleans order is CW limit then CCW Ij repeated for axes two through four booleans thar report the limits for alf axes The mit for axis one and is Fast Status Vis Page 60 of 113 RGBINSP00018003 tee Motion Toolbox User Guide Home limits is a cluster of four booleans that report the actual physical status of the home limits for all axes The boolean order is from axis one to four e Axis n True if home limit is currently active 6000 command reference TLIM Joystick Status Parse r7 joystick auxilary input 77 Joystick trigger input Joystick axis select input Joystick velocity select input i Joystick release input Parses the 1 O status output of the Get Fast Status VI and returns the status of the actual physical state of various joystick inputs zu TO status is the 1 O status output of the Get Fast Status VI Joystick auxiliary input is true if pin 19 of the joystick connector is currently active Joystick trigger input is true if pin 18 of the joystick connector is currently active Joystick axis select input is true pin 15 of the joystick connector is currently active Joystick velocity select input is true if pin 16 of the joystick connector is currently active Joystick release input
18. default Addr port out Home axis 1 2 no EE I Home axis 22 2 no ees i Home axis 3 2 no Home agis 47 2 no T Axis 1 4 determines the direction of the homing search MB 0 Home clockwise 1 Home counter clockwise 2 Do not home sey ay tot pas nd Sead S ES 6000 command reference HOM i i Initiate Linear Int Motion 4 Immediate T 1 Execute VI T i i Addi port default j Start axis 1 F 2 B tee CLUB emer cemeteries Sgn en ag Start axis 2 F a Start axis 3 F b Start axis 4 F dieci NERA fies Initiates linear interpolated motion on the Specified axes Linear interpolated moves cause all axes to start and Stop at the same time regardless of the 1 distances traveled by each axis The end point of the linear interpolated move E a F j i Page 90 Motion Vis ims Verein me age wna n EORR GRAM NC MSS vinee 113 Page RREI PINIS is dictated by the values entered using the Ser Distance VI The vector velocity and acceleration are determined by the Ser Path Velocity amp Acceleration VI 1f motion does not occur after executing this command verify the drive fault level pulse cutoff and limits are configured properly Axis 1 4 A true initiates linear interpolated motion on the respective axis 6000 command reference GOL Set Position Immediate T Execute
19. 1 no change SH Axis 2 no change Asis 3 no change Axis 4 no chanae Enor Sets the deceleration rate for the specified axes in units per second squared The deceleration rate remains set until changed with a subsequent Set Deceleration command If the deceleration rate has not been defined the T acceleration rate will be used to stop motion Once the deceleration rate has jl been defined the acceleration rate no longer affects deceleration If scaling is enabled the deceleration values are internally multiplied by the acceleration scaling factors see Set Motion Scaling Factors V1 l Axis 1 4 defines the deceleration for the respective axis 4 l 6000 command reference AD 1 Hk b i 1 Set Direction immediate T Execute VI T Addr port defauit e Addr port out i r a P Direction CW T Lane Ero d E 4 Fi Sets the direction clockwise or counter clockwise for the specified axis when in the incremental or continuous mode The sign of a subsequent Ser Distance VI will override this VI rum reenen e l1 r Direction True Set direction to clockwise False Set direction to counter clockwise t n 6000 command reference D Motion Vls ee beet eA an SAE a RN Page 94 of 113 RGBINSP00018037 Motion Toolbox User Guide oM Go Home Immediate T 4 Pam eir Execute VI T E ah g Addi poit
20. A D state changed is true if the corresponding boolean input has changed in state Some value changed is true if any of the four boolean inputs has changed in state 6000 command reference N A Boolean Event Example Boolean Transition j State Tee Lowtohigh Force Transition Dno ma Hightolow i State Change 5 Monitors a boolean input for a state transition A transition flags an event that sets the appropriate output to true EFE State The boolean variable to monitor Miscellaneous VIs Page 83 Hep aaa te ea ai AA a ries RN tx E 8 b avete pec Te my HCM ae ee Page 88 of 113 RGBINSP00018031 sme en menit me ees s a ee Motion Toolbox User Guide 32 Force Transition Forces the state of this VIs outputs 0 Do not force I Force low to high transition 2 Force high to low transition EXE Low to high Indicates monitored boolean input made a low to high transition High to low Indicates monitored boolean input made a high to low transition State Change Indicates monitored boolean input made either a low to high or high to low transition 6000 command reference N A Page 84 Miscellaneous Vis ee ee rs Page 89 of 113 RGBINSP00018032 we m Se vo ert de ah iz i Li SE e gt E d D a ca Stn i Le ER St a F d l J 2 a gl d 4 E m Li i Moti
21. Axis 3 F don t teset i Axis 4 F don t reset Clears specified encoder registers that are configured as counters The Counters can also be cleared by applying a positive differential signal to Z and Z E Axis 1 4 A true resets the respective counter 6000 command reference CNTR Counter amp Timer Vis Page 13 ae Mee a ees sy ot a ate i H i f113 page RGBINSP00017964 Configuration Vis This chapter contains descriptions of the configuration Vis included with Motion Toolbox The figure below displays the Configuration function palette b bs a cnabi fe eedrat jf E H Motor ES pIa Configuration Function Palette ity al Configuration VI Descriptions Set Motion Scaling Factors Execute VI T Addr port default Addr part out Axis 1 Error Dist factor 1 Vel factor 25000 Acc factor 25000 Sets scale factors for distance velocity and acceleration The 6000 controller internally multiplies the values issued via the Sez Distance Set Velocity and Set Acceleration VIs by the appropriate scaling factor provided scaling is enabled by the Enable Scale Factors VI sz Dist factor specifies the distance scale factor for the respective axis Valid range is 1 to 999 999 Configuration VIs Page 15 Page 22 of 113 RGBINSP00017965 Motion Toolbox User Guide Velocity factor Specifies t
22. Error E Executes a previously compiled defined path If any of the axes included in i the specified path are not ready the path will not execute An axis is not 3 i ready if it is in shutdown moving or in joystick or jog mode When path E 4 execution begins all included axes become busy until path execution is a B finished j i Path program name specifies the name of the path to execute X l 6000 command reference PRUN i ll Motion Vls i ki i i 4 d Page 97 of 113 RGBINSP00018040 Motion Toolbox User Guide Set Path Vel amp Acc Immediate T Execute VI T Add port default z Addr port out Velocity no change Accel na change g Error Decel no change Specifies the velocity acceleration and deceleration values used in linearly interpolated and contouring moves For both move types the parameters refer to velocity acceleration and deceleration of the load as it proceeds along the path Velocity defines the path velocity Accel defines the path acceleration Decel defines the path deceleration T 6000 command reference PA PAD PV Run Program E NM Immediate T Execute VI T 4 i Addr port default ri te out Pragram name EE E Eror Executes a program previously defined with the DEF command A program name must consist of 6 or fewer alpha numeric characters U
23. Guide EXE Scale tocalty True Divide encoder i factor l False Do not scale j Encoder position axis 1 4 are the encoder encoder counts or if local counts Positions by respective local scaling Positions for each axis in scaling is enabled in scaled encoder 6000 command reference N A Velocity Parse Motor status on Scale locally F 1 Parses the Motor status output of the Ger Fast Status VI into velocities for each axis If Scale locally is enabled the velocities are divided by the respective scale factor set by the Ser Velocity Local Scaling V EE Motor status is the Motor Status output of the Ger Fast Status VI E Scale locally True Divide velocities False Do not scale Velocity info axis 1 4 are the respective velocities for each axis in steps second or if local scaling is enabled in scaled steps second by respective local scaling factor 6000 command reference N A Page 46 Fast Status Vis Page 52 of 113 RGBINSP00017995 cepe eet Motion Toolbox User Guide pedestres deer dic Vi ths E Pos Captured Status Parse Position captured with TRGA i Misc status 8 5 Position captured with TRG B Position captured with TAG C i i Position captured with TAG D i i Parses the Misc status output of the Get Fast Status V1 and returns boo
24. Program select 6000 command reference INFNC VO amp Limit Vis Page 61 NS TT Puce Toria TL LI E nardi Lest 113 PREND RGBINSP00018009 Motion Toolbox User Guide Enable 6000 Input Functions Immediate T Auguri Execute VI T i Add part default enable Addi port out Enable disable enable Error Input Function VI AH input fanctions defined with the Set 6000 Input Function VI will have no effect unless enabled by this VI QE Enable disable True Enable input functions and drive fault input False Disable input functions and drive fault input 6000 command reference INFEN INFNC DRFLVL e Set 6000 Input Debounce Time Immediate T Execute VI T Addi port default xis Addr port out Debouce time 50 mz hina Error Sets the input debounce time for all of the general purpose inputs or assigns a unique debounced time to each of the trigger inputs The range is 2 to 250 milliseconds in even increments The 6000 series defaults are 4 ms for the general purpose inputs and 50 ms for the trigger inputs EZ Input 1 24 Sets the debounce time for all general purpose inputs regardless of number chosen 1 24 25 28 Sets the debounce time for the corresponding trigger E input Page 62 VO amp Limit Vis f PAROI e PA 11 E Ri Shine pence
25. VI T Addr port default Axis 1 na change Addr port out Axis 2 no change Eror Axis 3 no change Axis 4 no change Defines the current absolute position counter for each axis All values are in steps unless scaling is enabled see Enable Motion Scaling VI in which case values are multiplied by the distance scale factor see Set Motion Scaling Factors V1 Axis 1 4 defines the absolute position for the respective axis 6000 command reference PSET Motion VIs Page 91 Motion Toolbox User Guide SIE NR REEL EN RE E ET E E A MN Page 96 of 113 RGBINSP00018039 cy be leat s pur Motion Toolbox User Guide Wait for Move Complete 4 j n Execute VI I l pore I 2 Addr port default Addr part out 3 E Pal Time 1 Extra Wait 1 5 A Waits for all motors to come to rest This VI parses the Misc status output of 1 the Get Fast Status VI and waits until all motors are at rest before Teturning to P its caller 3 d i j Poll time specifies in milliseconds how often the axes are checked E E E E for a non moving status 3 T n Extra Wait specifies in milliseconds how long after motion has 1 i completed this VI waits before returning to its caller 1 A 6000 command reference N A 1j a 1 j Run Path 1 Immediate T i 1 Execute VI T PTSS SUE x m Addr part default a Addsr port out E 1 Path program name S l
26. action deletes all volatile information in the product 6000 command reference RESET Device Communication Page 33 M MZ E nono ol ane SERIEM Page 39 of 113 RGBINSP00017982 Motion Toolbox User Guide Set Error Action 72 Error Action i Data flow out always true Sets the action to execute upon Moti iz Error Action on Toolbox encountering an error 6000 command reference N A Set Parameter Precision Distance precision 5 Velocity Precision 5 Acceleration Blecisian 5 Numeric var Precision 5 52 Distance precision Specifies the number of decimal places to use when sending distance values to the 6000 controller sz Velocity precision Specifies the number of decimal places to use when Sending velocity values to the 6000 c ontroller Page 34 Device Communication anteater 4m ret 13 Page 40 SS tee 132 Numeric var Precision Specifies the number of decimal places to use when sending variable values to the 6000 controller cre Data flow out is always true it can be used to force correct sequencing of this VI 6000 command reference N A Set AT6400 Polling Parameters zu Set 5 50 777 Data flow out always true Timeout Limit 1000 ms Polling interval 1 ms Sets the Tim These val ues are used when executing AT6400 queries and transfers 132 Timeout Limit is the amount of time to wait in milliseconds
27. enable Enables or disables the update of the user Status word defined by the Define 6000 User Status VI F Enabie disabie True Enable update of user status i False Disable update of user status 6000 command reference INDUSE INDUST se mar neg ene t RN Page 72 VO amp Limit Vis 7 of 113 AGER RGBINSP00018020 Jogging amp Joystick VIs This chapter contains descriptions of the jogging and joystick VIs included with Motion Toolbox The figure below displays the Jogging amp Joystick function palette enable jog vdi fog voll fj ie enable j vel low vel high seca decd E E electron IS pu sere Jogging amp Joystick Function Palette Jogging and Joystick VI Descriptions l L4 Enable Jog Mode LONE Immediate T mma Execute VI T mmm ui Addr port default Axis 1 no change Addi part out Axis 2 no change Error Axis 3 no change Axis 4 no change 3 i Enables jog mode on the specified axes Once jog mode is enabled the jog inputs can be used to produce motion on the specified axis Inputs are a configured as jog inputs using the Set 6000 Input Function VI n Axis 1 4 enables disables the jog mode for the respective axis B 0 Disable jog mode m a l Enable jog mode a N 2 Do not change current setting 6000 command reference JOG 1 V M ERRARE ee i W Jogging amp Joystick VIs Page 73
28. is true if pin 17 of the joystick connector is currently active command reference TINO Fast Status Vis Page 55 Page 61 of 113 RGBINSP00018004 Motion Toolbox User Guide Digital Output Status Parse Parses the 7 0 status Output of the Get Fast Status VI and returns the status of all programmable digital outputs UO status is the 1 0 Status output of the Get Fast Status VI Outputs 1 8 is a cluster of eight booleans that indicate the status of the first byte af Programmable outputs A given boolean is true if the output is Currently active Outputs 9 16 is a cluster of eight booleans that indicate the status of the second byte of programmable outputs A given boolean is true if the output is currently active sci Outputs 17 24 is a cluster of eight booleans that indicate the status of the third byte of Programmable outputs A given boolean is true if the output is Currently active 6000 command reference TOUT Other Input Parse 55 VO status is the T O status output of the Get Fast Status VI Page 56 Fast Status Vis Page 62 E anisene Motion Toalbox User Guide Pulse cutoff is true if the pulse cutoff input is grounded hs Note The pulse cutoff input must be grounded active before any x motion can take place i 6000 command reference TINO Digital Input Parse Parses the 1 O status output of the Get Fast Status VI and returns
29. limit is encountered The range is 0 00025 to 24 999 999 units sec The 6000 series default value is 100 units sec 6000 command reference LSCW LSCCW LSAD t f i f p i 1 F i i i f i D i YO amp Limit Vis i b 4 5 E 113 PAER m e P Enable Soft Limits Immediate T Execute VI T i Addr port default Axis 1 7 Enable CW limit T Enable CCW limit T Enables or disables the soft limits on the specified axis When disabled motion will not be restricted by the soft limits When a specific limit is enabled and the absolute limit defined in the Set Soft Limit Range Vl is exceeded motion will stop at the pre defined deceleration rate EXE Enable CW CCW limit True Enable soft limit False Disable soft limit 6000 command reference LS Enable Analog Input Override Immediate T 1 Execute VI T mm i Addt port default Ch 1 F disable Ch 2 F disable L Ch 3 F disable Ch 4 F disable Enables or disables software overriding of the analog inputs If enabled the analog input values are as specified by the Set Analog Input Override Voliage VI if disabled the analog input value are as determined by the actual hardware input voltages on the joystick connector The joystick release input pin 17 on the Joystick connector is not monitored when overrid
30. location of the cursor on the RP240 display d is Note This VI is only applicable to the 62XX i RP240 Display VIs Page 101 of 113 RGBINSP00018044 aN iS cns Wo EE TREE EN Nw rn EARE PAOLI a E Page 98 RP240 Display Vis Motion Toolbox User Guide Line to position cursor 0 Position to top line 1 Position to bottom line 332 Column to position cursor Column 0 is on the far left and 39 is on the far right 0 39 Column position 6000 command reference DPCUR Enable RP240 Jog Mode Immediate T mpm Execute VI T mar E Port default Port out Enable Jog T 7 E trat Enables the RP240 jog mode on all axes Once enabled the operator can use the RP240 arrow keys to jog individual axes Note The 6200 suspends processing after enabling jog mode The jogging VIs for acceleration deceleration and velocity can be used with the RP240 jog mode Once in this mode the operator can switch between low and high jog velocities for any axis and can also modify the two jog velocities using the RP240 s EDIT key To disable the RP240 jog mode press the MENU RECALL key or call this VI with Enable Jog set to false Upon exiting the RP240 jog mode the RP240 s display is cleared Note This VI is only applicable to the 62XX Enable Jog True Enable RP240 Jog mode False Disable RP240 jog mode 6000 command reference DJOG PE e ES dme et Seo
31. of this VI Fast Status Vis 13 Page 50 SOS USdz0Us Motion Toolbox User Guide Motor Position Parse Motor status 1 Motor position axis 1 Scale locally F pe Motor position axis 2 Motor position axis 3 Motor position axis 4 Parses the Motor status output of the Get Fast Status VI into motor positions for each axis If Scale locally is enabled the motor positions are divided by the respective scale factor set by the Set Motor Pos Local Scaling VI EE Motor status is the Motor status output of the Get Fast Status VI EE Scale locally True Divide motor positions by respective local scaling factor False Do not scale Motor position axis 1 4 are the motor positions for each axis in motor steps or if local scaling is enabled in scaled motor steps 6000 command reference N A Encoder Position Parse Motor status Encoder position axis 1 Scale locally F Encoder position axis 2 Encoder position axis 3 Encoder position axis 4 Parses the Motor status output of the Get Fast Status V1 into encoder positions for each axis If Scale locally is enabled the encoder positions are divided by the respective scale factor set by the Set Encoder Pos Local Scaling VI Motor status is the Motor status output of the Ger Fast Status VI Fast Status Vis ENG ENUIC UE Kerr Page 45 rei xo sms ias Gea itam Page 51 of 113 RGBINSP00017994 Motion Toolbox User
32. the status of at all digital and trigger inputs zu LO status is the 1 O status output of the Get Fast Status VI Inputs 1 8 is a cluster of eight booleans that indicate the status of E the first byte of programmable inputs A given boolean is true if the d input is currently active ti Inputs 9 16 is a cluster of eight booleans that indicate the status of u f the second byte of programmable inputs A given boolean is true if ael the input is currently active Inputs 17 24 is a cluster of eight booleans that indicate the status of h the third byte of programmable inputs A given boolean is true if the input is currently active U H i Trigger Inputs A D is a cluster of four booleans that report the status of the trigger inputs A given boolean is true if the trigger input is currently active TES 6000 command reference TIN Fast Status VIs Page 57 Page 63 of 113 RGBINSP00018006 iX Eds NM Y p ll 1 1 E h ll Wes RE ns AMI roe iris OMM TM o il l O amp Limit Vis This chapter contains descriptions of the I O and limit VIs included with Motion Toolbox The figure below displays the I O amp Limits function palette a in Funct n bE oo Ez pim Ea EU E El T mE eet ees ater spate VO amp Limits Function Palette I O amp Limit VI Descriptions Set 60
33. 00 Input Active Level Immediate T 4 Execute VI T i Addr part default J Pat Addr port out Input byte 1 no change Input byte 2 no change Sj Error Input byte 3 no change 4 Defines the active state of all programmable inputs The active level can be defined for each input individually The 6000 series default state is active low Home and limit active levels are set using the Configure Home and Set Hard Limit Active Level Vis respectively ryanna ea Page 59 VO amp Limit Vis UU E eae UA AD ean SF a Ii erento Lumens MAKE E EA cet a aaah oe pu Mos Page 64 of 113 RGBINSP00018007 wn vine dads UR i i i i i 1 Motion Toolbox User Guide 57 Input byte 1 3 are clusters of eight 32 bit integers that Specify the active state of the Corresponding input Each Cluster is ordered from the least significant input to the most significant 0 Set input to active low l Set input to active high E 2 Do not change current setting 6000 command reference INLVL eae emo Enable 6000 Inputs Immediate Execute VI Ir Addr part detauk Addi port out Byte 1 no change lt Byte 2 no change lt y Byte 3 no change d Enables or disables the Specified inputs This VI allows inputs to be disabled and forced to a high or low state It may be used for debugging purposes It is generally
34. 018 Motion Toolbox User Guide Define 6000 User Status immediate T i Execute VI T i Addr part default Addr port out wer Rauz User status bit 1 Reference bit 1 Status ta reference 0 A Enor Defines the bits of the user status word The user status word is a configurable combination of status bits referenced from other 6000 status words This facility allows you to create your own application specific status word This status word is retrieved with the User Status Parse VI User status bit specifies the user status bit to define Valid range is 1 to 16 Reference bit Specifies the system status axis status input or interrupt status bit to reference Valid range is 1 to 32 Status to reference Specifies the status information to reference 0 A axis status for axis 1 1 B axis status for axis 2 E 2 C axis status for axis 3 AT6400 only 4 3 D axis status for axis 4 AT6400 only A 4 E reserved 5 F reserved 6 G reserved 7 H reserved 8 I system status 9 J input status 10 K interrupt stams AT6400 only 6000 command reference INDUST M M MM M E S E A A E a VO amp Limit VIs Page 71 Page 76 of 113 RGBINSP00018019 Motion Toolbox User Guide Enable 6000 User Status Immediate T Execute VI T i Addr port default Addr port out Enable disable
35. 971 Motion Toolbox User Guide Configure Feedrate Override Immediate T Execute YIT i Addr part default Override percentage specifies the percentage range is 0 to 100 percent 6000 command reference FRA FRH FRL FRPER Adds port out sz Low channel defines the analog channel that Will be used when the axis select input pin 15 of Joystick connector is low 2 High Channel defines the analog channel that will be used when the axis select input pin 15 of joystick connector is high by which motion velocity will be Scaled when feedrate override i Configuration Vis 13 Page 29 R E E ipte ha Enable Feedrate Override Immediate T je Execute VI T i Addr port default cubic Addi port out Override Enable 0 disable E 2 Ea 4 x Enables or disables feedrate override on all axes When using the hardware override the analog channel defined with the Configure Feedrate Override VI is used to scale the motion velocity At 0 VDC the percentage is 0 and at 2 5 VDC is 100 To have programmatic control of the feedrate percentage use the software feedrate option of this VI and the Overrate percentage input of the Configure Feedrate Override VI sz Override Enable 0 Disable feedrate override 1 Enable hardware feedrate override 2 Enable software feedrate override 6000 command reference FR Set Encoder
36. Axis 1 4 defines the Joystick deceleration for the respective axis a vv Valid range is 0 07500 to 24 999 999 steps sec 6000 command reference JOYAD Setup Joystick Electronics Immediate T Execute VI T gere d Addr port default Addt part out Analog channel 1 Center no change Enor Center deadband no change End deadband no change Defines the electronic characteristics of Joystick mode The 6000 series 2 5 volt input a given analog channel for use in joystick inputs are eight bit ADCs with a 0 to Analog channel specifies the analog input channel to define Valid range is 0 to 4 product dependent GL Center defines the voltage level for the analog input that commands no motion Valid range is 0 15 to 2 40 volts Eom Center deadband defines a range of voltage about the joystick center that commands no motion Valid range is 0 00 to 1 24 volts Page 78 Jogging amp Joystick VIs j f113 SADE RGBINSP00018026 2 amp End deadband defines a voltage range at the upper and lower ends of the joystick input voltage beyond which the commanded velocity does not change Valid range is 0 00 to 1 24 volts 6000 command reference JOYCTR JOYCDB JOYEDB Set Joystick Analog Inputs Immediate T Execute VI T Addr past default core Addt port out UU Channel low O no selection aput Error Channel high O no selection Specifies the analog channels t
37. EE eie te sca PSE EREEREER Yain A att re oe Page 68 of 113 RGBINSP00018011 Motion Toolbox User Guide Enable 6000 Outputs Immediate T m Execute VI T 4 i Addi post default Byte 1 no change Byte 2 no change p Byte 3 fna change Addr port aut Eno Enables or disables the specified outputs It is used for troubleshooting and initial start up testing It is generally not used within a program The 6000 series default state for each output is enabled Byte 1 3 are clusters of eight 32 bit integers controlling the enable disable state of the respective output Each cluster is ordered from the least significant output to the most significant The eight clustered integers are interpreted as follows 0 Disable output and set to off 1 Disable output and set to on 2 Do not change current setting 3 Enable output 6000 command reference OUTEN Set 6000 Output Function immediate 1 Execute VI T m Addr port default Addr port out Axis 1 Output 1j Function 0 A Error Defines the function corresponding to the specified output and axis number if required Each output may be assigned a unique function The default condition is function O for all of the outputs To enable the functions by this VI use the Enable 6000 Output Functions VI Output specifies the output number to define Page 64 HO amp Limit Vis Page 69 o
38. ES TRUE Un EE wo m Ean mu Si amm we Motion Toolbox User Guide Set Joystick Acceleration 77 Set Joystick Analog Inputs Set Joystick Deceleration Set Joystick Velocity High Set Joystick Velocity Low Set Joystick Zero Set Motion Scaling Factors Set Motor Pos Local Scaling Set Numeric Variable Set Parameter Precision Set Participating Axes Set Path Scaling Factors Set Path Vel amp Acc Set Position Set RP240 LED States Set RP240 Password Set String Variable Set Velocity 0 00 0 Set Velocity Local Scaling Setup Joystick Electronics visi Soft Limit Status Parse Start 6000 Timer Stop 6000 Timer Stop Motion System Status Parse Timer Status Parse Transfer Binary Variable Transfer Captured Positions Transfer Numeric Variable Transfer String Variable User Status Parse I Velocity Parse 46 Wait for Move Complete 92 Write Text to RP240 oo 95 Page 110 Index aki E 4 E a Page 113 of 113 RGBINSP00018056 nm eme mere emer r3 CO
39. Page 78 of 113 RGBINSP00018021 Motion Toolbox User Guide Set Jog Velocity Low Immediate T Come Execute VI T i Addr post fdefault P Addr port out Axis 1 no thang Axis 2 no change Axis 3 na change Axis 4 na change Eror Specifies the velocity to be used upon receiving a jog input with the jog speed select input low OFF Inputs can be configured as a jog speed input using the Ser 6000 Input Function VI Axis 1 4 defines the low jog velocity for the respective axis Valid range is O to 1 600 000 Steps s 6000 command reference JOGVI Set Jog Velocity High Immediate Ti Vu opem Execute VI T i Addr part default jeg vc Addi port out Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no Change Ettor Specifies the velocity to be used upon receiving a jog input with the jog speed select input high ON Inputs can be configured as a jog Speed input using the Set 6000 Input Function VI Axis 1 4 defines the high jog velocity for the respective axis Valid range is 0 to 1 600 000 steps sec 6000 command reference JOGVH Jogging amp Joystick Vis 113 eer RREI PON Motion Toolbox User Guide Set Jog Acceleration Immediate T Execute VI T 4 Addr port default ies Addr port out Axis 1 no change Axis 2 no change Eror Axis 3 no change Axis 4 no change Specifies the accel
40. RP240 Display VIs EA EAO ENEE EE A bic eio DAL Id 95 RP240 VI Descriptions eesee eret tnnt tnn 95 Write Text to RP240 95 Display Variable on RP240 seeee e 96 Set RP240 LED States ener ene 96 Clear RP240 Display 97 lt Position RP240 Cursor eese 97 Enable RP240 Jog Mode esee 98 Set RP240 Password cessere mee 98 Variable amp Transfer Vls esee Ta uran 101 Variable amp Transfer VI Descriptions sessersrsrsreeriesereeena 101 Set Numeric Variable 101 Set Binary Variable 102 Set Binary Variable by Byte eee 102 2 Set String Variable 103 ES E Transfer Numeric Variable 103 n i E Transfer Binary Variable 104 Z 1 Transfer String Variable esee 104 1 Transfer Captured Positions 105 1 Miscellaneous Transfers seem 106 iv 5 1 L E i Cep RN E PON UE d Page 8 of 113 RGBINSP00017951 Appendix Motion Toolbox Error Codes Technical Support Compumotor Bulletin Board Service Systems Integration and Consulting LL lt 108 Motion Toolbox VI Index alphabetical eese nemen LOD gud Tyrone ien tectus iki teow PM Mete men rts ie NEM Y ee die dis f113 ARE RGBINSP00017952 Introduction M Overview Motion Toolbox is a libr
41. Resolution Immediate T Execute VI T m Addi poit default Axis 1 no change Axis 2 no change Axis 3 no Change Axis 4 no changel Configures the encoder Counts per revolution post quadrature for the Specified axis This setting allows the controller to Correctly interpret move distances velocities and accelerations while in the encoder step mode G Axis 1 4 determines the encoder resolution for the respective axis Valid range is 200 to 65 535 Counts per revolution Configuration VIs Page 23 113 Bago ON I PO Motion Toolbox User Guide 6000 command reference ERES Set Encoder Motor Step Mode Immediate T Execute VI T Gaina Addr pott default Set Addi poit out Asis 1 no change Enact Axis 2 no change Laie Eror Axis 3 no change Axis 4 no change Specifies whether the move distances are based on motor steps or encoder steps Axis 1 4 determines step mode for the respective axis 0 Configure axis for motor step mode 1 Configure axis for encoder step mode 2 Do not change current setting 6000 command reference ENC Configure Homing Immediate T mas Execute VI T HE Addi port default Axis 1 Home Active Level F low Home to Z ch F Disabled Home Backup disabled n A Addr port out Eror Configures various settings for the specified axis used when homing Page 24 Configuration Vis
42. T m um Execute VI T 1 E Specifies the maximum velocity that can be obtained at full deflection 0 VDC or 2 5 VDC during joystick mode while the joystick velocity select input on the joystick connector is high uBt Axis 1 4 defines the high joystick velocity for the respective axis Valid range is 0 00020 to 1 600 000 steps sec 6000 command reference JOYVH Set Joystick Acceleration Immediate T Execute VI T mumm i Addr port defaultj fo Axis 1 fno change Addr port out Axis 2 no change Axis 3 no change Axis 4 no change Specifies the acceleration used during joystick mode a Esel Axis 1 4 defines the joystick acceleration for the respective axis Valid range is 0 07500 to 24 999 999 steps sec i 6000 command reference JOYA Jogging amp Joystick VIs Page 77 i E d H 8 HE UE LH 3i NH HE ig ead ji 3 Uu Rad 1 7 i i i m a4 fd E ig E ig F H iji mE n B i site f113 Page Se RGBINSP00018025 emere eae eee eg d Sm Dee lor rt RR Motion Toolbox User Guide Set Joystick Deceleration Immediate T a Execute VI T mmm i Addt port default joy Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no change Addi port out x Rhenus el aa iiie cu Enor RETE Specifies the deceleration used during joystick mode BE
43. Timer VI Descriptions Start 6000 Timer Immediate T il nc Execute VI T i Addi por default vun Addr port out Reset before start T a the 6000 timer before starting True Reset and start timer False Resume counting from current value 6000 command reference TIMST Page I Pa D 3 2 S E Motion Toolbox User Guide Stop 6000 Timer Immediate T e VI T E Addr pait default PH Addi port out a Enor Stops the 6000 timer To get the value of the timer use the Get Fast Status and Timer Status Parse VIs 6000 command reference TIMSTP Configure Encoder Input as Counter Immediate T c Execute VI T Eurer T Addr pont default Axis 1 Counter encoder fencadei Configures the encoder input of the specified Axis to be used as a counter The hardware counter can either count up or count down The direction of the Count is specified by the signal on the encoder channel B and B connections Counter encoder True Configure input as up down counter False Configure input for encoder feedback 6000 command reference CNTE Page 12 Counter amp Timer Vis 113 i RGBINSP00017963 Motion Toolbox User Guide Reset 6000 Hardware Counter Immediate tj Sapa Execute VI T meme d Addr port default Addr part out Axis 1 F don t reset Axis 2 F don t reset Error
44. Velocity Low sL e 74 Set Jog Velocity High es 74 Set Jog Acceleration i545 Set Jog Deceleration 0 ccccccsesneseeeeseeeess S75 Enable Joystick Made ecseeeesseeascetel 76 Set Joystick Velocity Low 76 Set Joystick Velocity High esnaera Set Joystick Acceleration e esses Set Joystick Deceleration Setup Joystick Electronics Set Joystick Analog Inputs Set Joystick Zef0 issues tet ete slel tit ee UU eat II nore ore kJ Page 7 of 113 RGBINSP00017950 Miscellaneous VIS eese nennen nen neenon enne ene ED Miscellaneous Vi Descriptions 2 2 0 cc cccee eee ceee eee 81 Numeric Event 81 Boolean Event 82 Boolean Transition 2 ccccceccese ees ee eere ettet enne 83 Motion Vis cree teo toner nnno and ee t ni ht aha taa ase eee e osa sie acie DES Motion VI Descriptions Lesser ennt ene nnne 85 initiate Motion 85 Stop Motion TEL Kill Motion 2 2 0 0 ce cence ccc eset eene nna than sane sa tee nen same 87 x Set Velocity 88 Set Acceleration eseeeeeee een 88 Set Deceleration 89 Set Direction 89 Go Horne 90 initiate Linear int Motion 90 Set Position 91 Wait for Move Complete 92 Run Path uui e edd 92 Set Path Vel amp Acc 93 1 Run Program Lese enne nennen nnne nennen enne nenne 93 E
45. ard Limit Decel defines the deceleration rate in the event an end of travel limit is encountered The range is 0 00025 24 999 999 units sec The 6000 series default value is 100 units sec 6000 command reference LHLVL LHAD Enable Hard Limits Immediate T E Execute VI T i Addi port default Addi poit out Axis 1 7 Enable CW limit T Enor Enable CEW limit T Enables or disables the use of the hard wired limits With the limits disabled motion will not be restricted When a specific limit is enabled and the limits wiring for the enabled limit is physically active according to settings issued by the Set Hard Limit Active Level VI motion will be restricted The 6000 series default condition is enabled YO amp Limit Vis Page 67 AREE LOETA AP iun PPIP PA TEE PEE EEEE E E E Page 72 of 113 RGBINSP00018015 Motion Toolbox User Guide E Enable CW CCW limit True Enable limit False Disable limit 6000 command reference LH Configure Soft Limits Immediate T Execute VI Tj Addr port default Axis 1 CW limit range no it range no change Soft limit decel no change os CW CCW limit range defines the maximum absolute position the axis can travel unrestricted The range is 999 999 999 to 999 999 999 units Soft Limit Decel defines the deceleration rate in the event an end of travel
46. ard limit status axis 2 Hard limit status axis 3 thee Hard limit status axis 4 Parses the Misc status output of the limit status for each axis Misc status is the Misc status Output of the Ger Fast Status V Hard limit status axis 1 4 is a cluster of two booleans that report the axis specific status of the following parameters CWis true if CW limit has been encountered CCW is true if CCW limit has been encountered 6000 command reference TAS Get Fast Status VI and returns the hard Motion Status Parse Motion status axis 1 Motion status axis 2 Motion status axis 3 s Motion status axis 4 Parses the Misc Status oui Status for each axis Fast Status Vis Page 49 tput of the Get Fast Status V1 and returns the motion Page 55 of 113 RGBINSP00017998 Motion Toolbox User Guide zy su Misc status is the Misc Status output of the Ger Fast Status VI Port the axis specific status of the following parameters D Moving True if axis is moving i Direction CCW True if axis direction is Ccw 3 i Accelerating True if axis is accelerating i i l At velocity True if axis is at velocity 1 Home successful True if axis home was Successful 6000 command reference TAS i Motion status axis 1 4 is a Cluster of five booleans that re i Soft Limit Status Parse Soft imit status axis 1 g Soft imit status axis 2 Soft
47. arise when using Motion Toolbox in the same Windows session as Motion Architect You should always use the latest version of these files that are available Page 11 of 113 RGBINSP00017954 Motion Toolbox User Guide Installation Procedure Motion Toolbox is distributed in compressed form on 3 5 floppy disks A Windows setup program is provided to install the Software on your hard drive To install Motion Toolbox complete the following Steps 1 Start Windows 2 Place disk 1 of the Morion Toolbox installation disks in your 3 5 floppy drive 3 From the Program Manager choose File Run 4 Type A SETUP EXE and select OK If drive A is not your 3 5 drive substitute A with the appropriate drive letter 5 Follow the directions given by the setup program for the remainder of the installation Motion Toolbox Registration To receive free technical support and update information please fill out the postage paid software registration form and drop it in the mail Getting Started The foliowing steps will help you get started using Motion Toolbox 1 If you are not already familiar with LabVIEW you should at least work through the LabVIEW tutorial manual 2 Read the Using Motion Toolbox chapter of this user guide 3 Become familiar with the Motion Architect software The Motion Architect terminal program is an excellent utility for debugging 6000 series controller applications If you encounter
48. ary of LabVIEW Vis for Compumotor s 6000 series of motion controllers Motion Toolbox allows LabVIEW programmers to develop motion control systems for a wide range of applications including automated test and manufacturing medical and biotech metering and dispensing machine control and laboratory automation Motion Toolbox supports both the Compumotor AT6400 4 Axis and 6200 2 Axis Indexers Motion Toolbox provides developers with the following capabilities and more Motion control including velocity acceleration deceleration go stop kill etc Setup control and command file transfer Counter and timer configuration and control Indexer encoder and drive configuration Home hardware limit and soft limit configuration Jogging and joystick configuration VO setup and function configuration Fast status querying of I O limit home moter and encoder position velocity etc To use Motion Toolbox effectively you should have a working knowledge of LabVIEW and have at least worked through the LabVIEW Tutorial manual Installation Package Contents Motion Toolbox installation disks Motion Architect installation disks Motion Toolbox User Guide User registration card License agreement t e 6 o Introduction Page I c Liens c VENETA y Lem ER COUR So Bae ates DRIN ik aS me iia a T See ee dp a mm f113 PAGE IN RGBINSP00017953
49. bsolute position it will seek after an Initiate Motion command ap ater 5 Exe et i Axis 1 4 defines the distance for the respective axis 6000 command reference D Page 86 Motion Vis f113 SAGRA RGBINSP00018034 Motion Toolbox User Guide Kill Motion Immediate T CENE RES Execute VI T Addi port default Y Addt part out Asis 5 kill all amp stop 1 Xl I or Instantaneously stops motion on used in emergency situations with the Motion to stop upon the controller receiving the command 2o o BS the specified axes This command is normally Immediate input set to true allowing rene DURER aaa ME eae il i Warning for Stepper Systems This command should be used with caution we i Since commanded motion is stopped instantaneously without a controlled deceleration ramp high inertial loads may cause a dri w 5 RH g amp amp E f B S 8 8 Axis Specifies the axis to kill 0 Kills motion on all axes but continues command z execution 1i 1 4 Kills motion on Specified axis 5 Kills motion on all axes and Stops command execution 6000 command reference KILL COMEXK Motion VIs Page 87 f113 TAPERE RGBINSP00018035 temas samrange anmam t te x gi eR Motion Toolbox User Guide Set Velocity Immediate T RE Execute VI T ua ME Addi port defa
50. dicates that one or more of the four inputs changed in value The example below displays how the Numeric Event VI is used to only send velocities to the 6000 controller when the velocity setting changes psi Value A D are the numeric values to monitor 3 Force all true When true forces all outputs to be true The example below displays how this input is used to force the Ser Velocity VI to execute the first time through the while loop EE Value A D changed is true if the corresponding input has changed in value Miscellaneous VIs Page 81 Page 86 of 113 RGBINSP00018029 Vic ipare mea lm ing output to true The Force all true input forces all Outputs to be true The So that one or more of the displays how the Boolean Event VI is used to only send direction information to the 6000 controller when the direct sc Boolean A D are the bool Page 82 Miscellaneous Vis Motion T oolbox User Guide Some state Changed 7 A state changed i B C state changed 7 D state changed four inputs changed in state ion Setting changes can values to monitor 13 Page 87 Sms cubo ido Motion Teolbox User Guide Force all true When true forces all outputs to be true The Boolean Event example below displays how this input is used to force the Set Direction VI to execute the first time through the while loop
51. e is enabled for any analog input channel Thus you can enter the joystick mode and simulate joystick operations without having to wire that input v SS St VO amp Limit Vis Page 69 Motion Toolbox User Guide Sat See ae ee ae AKT Forster FANS Page 74 of 113 RGBINSP00018017 Motion Toolbox User Guide Ch 1 4 Product dependent True Enable analog input override for respective channel False Disable analog input override for respective channel 6000 command reference ANVOEN Set Analog Input Override Voltage Immediate T Execute VI T i Addr port default NUN Addr port out Channel 1 Override voltage 1 244 Bd Error After enabling analog input override with the Enable Analog Input Override VI this VI will set the values of the analog inputs The values set by this VI Will be used for all commands and functions that reference the analog inputs but only those channels for which analog input override has been enabled Channel specifies the analog input channel to Set are one to four and are product dependent UL Override voltage specifies the value for the analo The range is 0 2 5 volts The 6000 series default volts 6000 command reference ANVO Page 70 Valid channels g input channel value is 1 244 WO amp Limit Vis f113 ERES S RGBINSP00018
52. ed by the appropriate scale factor Enable True Enable scale factors False Disable scale factors 6000 command reference SCALE Set Participating Axes Execute VI T Add part default Addi port out Participating axes 4 F E nor Defines the total number of axes to be controlled by the 6000 series product The 6000 controller defaults to control all axes for the product Participating axes sets the number of axes to be controlled by the 6000 controller Valid range is zero to four and is product dependent 6000 command reference INDAX Configuration VIs Page 17 4 of 113 wee RGBINSP00017967 ihn i ti Sici aci i Mp de sah ah o Motion Toolbox User Guide Configure Command Control Immediate T sarees Execute VI T mz E Addi poit default i Enable continuous cmd mode lt ie Other command control 4 Continue Exec on Limit al Continue Exec on in Positi_ m Configures several run time modes in the 6000 controller In applications it is appropriate to execute this VI with the default settings You may want to experiment with different settings for your application Refer to the 6000 Series Software Reference Guide for a full explanation of these configuration modes Enable continuous cmd mode Normally when a motion command is received command processing is temporarily paused until motion is complete When continuous command
53. eration used during jog mode t Axis 1 4 defines the jog acceleration for the respective axis Valid E range is 0 00025 to 24 999 999 steps sec 6000 command reference JOGA od A Set Jog Deceleration o Immediate T i s AN Execute VI T yi i H A Addr poit detault d E a Axis 1 no change S E q ie Axis 2 no change E i E ra 3 ie ed E ee is 4 no change E aM E 4 i Specifies the deceleration used during jog mode 4 1 i E N Axis 1 4 defines the jog deceleration for the respective axis Valid j range is 0 00025 to 24 999 999 steps sec f 6000 command reference JOGAD 3 r E Wi Jogging amp Joystick Vis Page 75 i i ie Page 80 of 113 RGBINSP00018023 Motion Toolbox User Guide Enable Joystick Mode imam mM i ddi port default Axis 1 no ge Axis 2 no change Axis 3 ing change Axis 4 Ino change 0 Disable Joystick mode le joystick mode Sot change current setting 6000 command reference Joy Set Joystick Velocity Low Immediate T Execute VI T maxim ity tha or 2 5 VDC during Joystick mode the joystick connector is low aay Axis 1 4 defines the low joystick velocity for the Valid range is 0 00020 to 1 600 respective axis 000 Steps sec 6000 commana reference JOYVL Page 76 Jogging amp Joystick VIs ONSE Page 81 S CB FUNT Motion Toolbox User Guide Immediate
54. f 113 RGBINSP00018012 9 7 Rwy oS 6000 command reference OUTFNC Enable 6000 Output Functions Enable or disables the output functions defined b Function VI If output functions are disabled programmable outputs only Enable disable True Enable output functions False Disable output functions 6000 command reference OUTFEN Programmable output Moving Not Moving Axis axis specifier Program in progress At limits hard or soft ax s specifier optional Stall indicator axis specifier optional Motion Toolbox User Guide 32 Function specifies the function to assign to the output and axis optional stepper products only Fault output indicates drive or user fault Position error exceeds maximum limit set with SMPER command servo products only Output on position servo products only y the Ser 6000 Output the outputs can be used as UO amp Limit Vis Page 65 c Urdu meer it mem a Page 70 of 113 RGBINSP00018013 Motion Toolbox User Guide Set 6000 Output States Immediate T Execute VI T ii Addi port default Addi port out Output byte 1 no change Output byte 2 no change Error Output byte 3 no change Sets the state of outputs configured as programmable In order for this VI to affect the state of an output that output must be defined as a programmable using t
55. ge 6 of 113 RGBINSP00017949 lj l Ji gp Timer Status Parse sees see eere reist 53 Analog Input Parse 54 Limit Input Status Parse eese 54 Joystick Status Parse 55 Digital Output Status Parse eese 56 Other Input Parse eee erar retten 56 Digital Input Parse esses essere tte 57 HO amp Limit Vls seeds eds sa oecesesesesc detuvo vevasevdsd DAR VO amp Limit VI Descriptions esl 59 Set 6000 Input Active Level 59 Enable 6000 Inputs e 60 Set 6000 Input Function seen tenis 61 Enable 6000 Input Functions 62 Set 6000 Input Debounce Time Ren OZ Set 6000 Output Active Level uaea 63 Enable 6000 Outputs eee esee 64 Set 6000 Output Function 00 cele secssecsseceeceececoeece 64 Enable 6000 Output Functions eorna 65 Set 6000 Output States e 66 Configure Hard Limits Lee eese eese 67 Enable Hard Limits eese esee esee eet 67 Configure Soft Limits sees essere 68 Enable Soft Limits 69 Enable Analog Input Override eso 69 Set Analog Input Override Voltage cccccccsscceedesaeee 70 Define 6000 User Status Enable 6000 User Status uu Lees 72 Jogging amp Joystick VIs ccsscessssessssersscsssccescsecseceeene 73 IE 11 ii oe ZUM Jogging and Joystick VI Descriptions ss 73 Enable Jog Mode e 73 Set Jog
56. hat will control motion during joystick mode The axes select input on the joystick connector determines which analog channel low or high will control the motion Channel low defines the analog channel that will control the specified axis during joystick mode while the joystick axes select input is low Xs Channel high defines the analog channel that will control the specified axis during joystick mode while the Joystick axes select input is high 6000 command reference JOYAXH JOYAXL Jogging amp Joystick Vis og Motion Toolbox User Guide ieee ee em Page 84 of 113 RGBINSP00018027 Motion Toolbox User Guide Set Joystick Zero Immediate T Execute Vj T Addr port default Analog channel 1 13 Page 85 onm bords Miscellaneous Vis This chapter contains descriptions of the miscellaneous Vis included with Motion Toolbox The figure below displays the Miscellaneous function palette Miscellaneous Function Palette Miscellaneous VI Descriptions Numeric Event Force all true 1 peee Some value changed Value A 7 Value A changed Value B gamel Value B changed Value C 1 Value C changed t Value D changed Monitors up to four numeric inputs for a change in value A change in value flags an event that sets the corresponding output to true The Force all true input forces all outputs to be true The Some value changed output in
57. he Set 6000 Output Function VI GEJ Output byte 1 3 are clusters of eight 32 bit integers that specify the state of the corresponding output defined as a programmable output Each cluster is ordered from the least significant input to the most Significant The eight clustered integers are interpreted as follows 0 Set output off 1 Set output on 2 Do not change Setting PERRA Mu Note The integers of the clusters Output byte 1 3 do not necessarily correspond one to one with the physical 6000 outputs the integers correspond to outputs configured as programmable outputs For example If only outputs 3 and 5 were defined as programmable outputs then the first two integers not the 3rd and Sth of the Output byte 1 cluster would affect the state of the outputs 6000 command reference OUT WO amp Limit VIs comen Td Wer CH emm ES i OM eo f113 i RGBINSP00018014 Motion Toolbox User Guide Configure Hard Limits Immediate T Execute VI T ey Addr part default Axis 1 CW active level CCW active level Hard limit decel no change Defines the active state of the limit inputs and deceleration used when a hard limit is encountered For safety reasons the 6000 series default state is active low CW CCW active level True Limit is active high False Limit is active low sec H
58. he velocity scale factor for the respective axis Valid range is 1 to 999 999 O Accel factor specifies the acceleration scale factor for the respective axis Valid range is 1 to 999 999 6000 command reference SCLD SCLV SCLA Set Path Scaling Factors Immediate T Execute VI T i Add port default Em Addi part out Dist factor 1 pA Velocity factor 25000 EIL Error Accel factor 25000 Sets path scale factors for distance velocity and acceleration If scaling is enabled Enable Scale Factors VT the 6000 controller internally multiplies the Dist factor specifies the path distance Scale factor for contouring and linear interpolated moves Valid range is 1 to 999 999 Velocity factor specifies the path velocity scale factor for contouring and linear interpolated moves Valid range is 1 to 999 999 Accel factor spccifies the path acceleration scale factor for contouring and linear interpolated moves Valid range is 1 to 999 999 6000 command reference PSCLD PSCLV PSCLA Page 16 Configuration VIs eimi f113 TAREA RGBINSP00017966 Motion Toolbox User Guide Enable Scale Factors Immediate T Tee Execute VI T i Addr port default Add port out Enable T lt En Enables and disables the acceleration distance and velocity scaling factors When enabled all distance velocity and acceleration values are multipli
59. his user guide Reducing VI load Time The first time a VI from Motion Toolbox is loaded it may need to be re compiled This will happen if you do not use the default directory when loading Motion Toolbox LabVIEW compiling adds overhead to the loading process that increases the VI s load time To avoid the compilation process in subsequent use of the VI save it before closing Make sure not to modify the VI in any way Using Motion Toolbox Page 9 is E ET Se e e een e ee EE AT Liaw Su Esser OP ta Eo mn MAR eae Led vesc x opua iY gdp States pee eren eee c cuire Wr ema Staaten ene wee uli A Lc Or i f113 i RGBINSP00017960 Motion Toolbox User Guide A better way is to compile all the Motion Toolbox LLB files using LabVIEW s mass compile feature To do this select Mass Compile under LabVIEW s File menu Now select the MOTION directory should be located off LabVIEW s VI LIB directory that holds the Motion Toolbox Vis You can alsa select each LLB file separately If you elect to mass compile the entire MOTION directory of LLBs it may take a while to execute See the LabVIEW 3 0 for Windows User Manual for more information on mass compiling Timer Resolution The default resolution of the timer functions included with LabVIEW for Windows is 55 milliseconds You can increase the resolution to 1 ms by altering the LabVIEW preferences file see Lab VIEW release notes Using
60. ide 6000 Series Software Reference Guide Motion Architect User Guide LabVIEW for Windows 3 0 documentation set LabVIEW Installation Notes Current Parker Compumotor Motion Control Catalog Introduction Page 5 13 meer EI POET i H L ul a Ld Using Motion Toolbox Device Communication Motion Toolbox Supports both the PC bus based AT6400 and serial Communications based 6200 To communicate with the AT6400 Toolbox calls low level DLL routines through a LabVIEW Code Interface Common VI Inputs and Outputs Most Motion Toolbox VIs have several common input and output terminals They are defined below to avoid redundancy in VI descriptions Using Motion Toolbox Page 7 Age NES Rl Reese ec aii HK 13 Page 15 DL EE Motion Toolbox User Guide XE Execute Vr Specifies w do nothing and return In applications dealing with control instruments should send Setup and confi card only when the information changes This avoids needless communication that degrades the performance the device A solution is to embed a VI that communicates with the device within a true false case Statement that executes only when appropriate In Motion Toolbox moved to the communication VI itself The Execute VI input is essentially the input to this case Statement True Execute VI normally False Do nothing and return LTE Immediate Dictates whether the c are sent to the 6000 co
61. int active Pause active Wait active Monitoring on condition Waiting for data 9 9996 M MM M M M t Fast Status VIs Page 51 etd e me S bi B at 2 Se IEEE OARE PENI AE S EEEN eu aici DM CM at s Aa aca tae mI Ae A al cl Page 57 of 113 RGBINSP00018000 Motion Toolbox User Guide System status group 3 is a cluster of eight booleans that report the System status of the following Parameters true yes Loading thumbwheel data External Program select mode Dwell in Progress T command Waiting for RP240 data 62XX 240 connected 62XX Non volatile memory error 62XX Servo data transmission 6250 Reserved 6000 command reference e e e TSS Drive Status Parse cluster of two booleans that report the axis following Parameters B Shutdown True if drive is shut down Fault True if drive fault has occurred 6000 command reference TAS Fast Status Vis ums EM seme chs SE 13 Page 58 SO Motion Toolbox User Guide User Status Parse User status bits 1 0 User status bits 9 16 Parses the Misc status output of the Ger Fast Status VI and returns user status information Lex Misc status is the Misc status output of the Get Fast Status VI User status bits 1 8 is a cluster of eight booleans that report the status of the first byte of the u
62. is ae mesa rne meam na Page 104 of 113 RGBINSP00018047 Motion Toolbox User Guide Set Binary Variable Immediate T Sy d Execute VI T i Addi poit default bins Addr port aut 2003 Variable 1 Value 0 Error Sets the value of a binary variable To retrieve the value of a binary variable i use the Transfer Binary Variable VI 1 Variable Specifies the variable to set Valid range is 1 to 25 Giga yan tennant Par EL reni G Value is a 32 bit binary number 6000 command reference VARB Set Binary Variable by Byte EIE Immediate T i i Execute VI T a te Bi Addr port default b f Variable 1 Byte 1 Data byte no change Sets the value of a binary variable by byte To retrieve the value of a binary variable use the Transfer Binary Variable VI 3 t Variable Specifies the variable to set Valid range is 1 to 25 i Byte specifies which of the four bytes of a 32 bit binary number to j set Valid range is 1 4 where 1 corresponds to the least significant ife byte wo T a EY ae J XU FEIN La Variable amp Transfer VIs rcs 44 es ane desi ttp in Page 105 of 113 RGBINSP00018048 Mation Toolbox User Guide Data byte is a cluster of eight 32 bit integers that represent the desired state for each bit of the data byte 0 Turn bit off 1 Turn bit on 2 Do not change current state
63. leans to i indicate if a trigger input has captured its respective position To retrieve the 1 i captured position use the Transfer Captured Positions VI 1 3 Misc status is the Misc status output of the Get Fast Status VI 1 Position captured with TRG A D True if a position has been H captured for the respective trigger input 4 i i f 6000 command reference TSS r MB Command Error Parse i l du l i a Yrs f a i n He on Command Error E I i id i i HN Parses the Misc status output of the Get Fast Status VI and returns the ii b command error status of the 6000 controller This command error bit remains ij 1 set until cleared by a TCMDER query see Miscellaneous Transfer VI zi Ei j E r1 Misc status is the Misc status output of the Get Fast Status VI 4 S Ei m Ei Command Error True if the controller has received an unrecognized command since the last TMCDER query power on H or reset The Miscellaneous Transfer V1 issues a TMCDER query i n will return the command string unrecognized by the controller as well as reset the command error flag d 6000 command reference TCMDER i E oa a ee ee ee aR ae Ee Fast Status VIs Page 47 Page 53 of 113 RGBINSP00017996 Motion Toolbox User Guide Configuration Status Parse zo Config status axis 1 a Config status axis 2 t Config status axis 3 Config status axis 4 Parses the Misc sta
64. limit status axis 3 y Soft imit status axis 4 Misc statuz Parses the Misc status outp limit status for each axis Misc status is the Misc sratus output of the Ger Fast Status VI Soft limit status axis 1 4 is a cluster of two booleans that report the i axis specific status of the following parameters ut of the Get Fast Status VI and returns the soft CW True if soft clockwise limit was encountered a CCW True if Soft counter clockwise limit was j encountered 6000 command reference TAS MENTEM Page 50 Fast Status Vis ME 113 PABEN E POS Motion Toolbox User Guide System Status Parse Parses the Misc status output of the Ger Fast Status VI and returns the system Status Misc status is the Misc status output of the Get Fast Status VI System status group 1 is a cluster of eight booleans that report the system status of the following parameters true yes System ready Buffer full AT6400 only Executing a program Immediate command Set true if last command was immediate In ASCH mode In echo mode Deftning a program In trace mode System status group 2 is a cluster of eight booleans that report the system status of the following parameters true yes Instep mode In translation mode 6400 Command error occurred This boolean status bit is cleared when the TCMDER command via the Miscellaneous Transfer VY is issued Break po
65. ly motor and T O status set Fetch control to 1001 binary or 9 decimal Note This input is ignored when Ger Fast Status is used with an AT6400 eal Motor status is a cluster of motor related parameters Misc status is a cluster of miscellaneous parameters er Timer status is a cluster of timer related parameters I O status is a cluster of 1 O related parameters 6000 command reference TAS TSS TUS Page 42 Fast Status Vis ag Page 48 of 113 RGBINSP00017991 14 E ld 14d Motion Toolbox User Guide Set Motor Pos Local Scaling Axis 1 25000 fitr poz Axis 2 25000 Ey Data flow out always true Axis 3 25000 Axis 4 25000 Sets the local scaling factors used by the Motor Position Parse VI Use this VI to scale distances to units convenient for your application For example if your step motor is set to a resolution of 25 000 steps per revolution and the motor is attached to a linear table with a five turn per inch leadscrew the motor will travel 125 000 steps per inch 25 000 steps rev 5 rev in To display inches set the local scaling to 125 000 for the appropriate axis and the information from the Motor Position Parse VI will be formatted to inches Axis 1 4 specify the motor position scaling factors for the respective axis Each axis can have a unique scale factor Data flow out is always true It can be used to force correct sequencing of this VI 6000 com
66. mand reference N A Set Encoder Pos Local Scaling Axis 1 4000 TIO Axis 2 me or Data flow out always true Axis 3 4000 Lie Axis 4 4000 Sets the local scaling factors used by the Encoder Position Parse VI The scale factors are in post quadrature counts Use this VI to scale encoder distances to units convenient for your application For example if your encoder is mounted on a linear table with a resolution of 10 000 counts per inch the scale factor for that axis should be set to 10 000 to scale the encoder information to inches Fast Status Vis Page 43 Page 49 of 113 RGBINSP00017992 6000 command reference N A Motion Toolbox User Guide Axis 1 4 specify the encode respective axis Each axis Data flow out is always true It can be used to force correct Sequencing of this VI T position Scaling factors for the can have a unique scale factor 6000 command reference N A Set Velocity Local Scaling Axis 1 25000 locity Axis 2 25000 CLUB Data How cut always true Axis 3 25000 Lees Axis 4 25009 EEJ Axis 1 4 specify the velocity scaling factors for the respective axis The default input scales velocity information to revolutions per second when used with a 25 000 ste P Per revolution Step motor System Each axis can h ave a unique scale factor Data flow out is always true It can be used to force correct Sequencing
67. mode 2 Do not change current setting 6000 command reference ESTALL Page 28 Configuration Vls Page 35 of 113 RGBINSP00017978 Geren etre te ONE RACES LL EN AN Ta d Li E 3 d j l g j E Lini fc ar ach BAS Quietus nre Ee en Motion Toolbox User Guide Set Pulse Width Immediate T mm Execute VI T i Addi poit default puce Addr port out Axis T no change Axis 2 no change Eror Aris 3 no change Axis 4 no change Sets the step output width for the corresponding axis The pulse width is described as the time the pulse is active or on When the pulse width changes from the default 0 3ys the maximum velocity range is reduced Axis 1 4 determines the pulse width for the respective axis Do not change current setting 0 3 ps pulse width 0 5 us pulse width 1 0 us pulse width 2 0 us pulse width 5 0 us pulse width 10 0 ps pulse width 16 0 us pulse width 20 0 us pulse width 6000 command reference PULSE SQ S QN DA GRUB panis MM M M Configuration VIs Page 29 d ME Page 36 of 113 RGBINSP00017979 LT BI gi M i1 E iz ti E M LL Device Communication This chapter contains descriptions of the device communication VIs included with Motion Toolbox The figure below displays the Device Communication function palette open open clo reset AT6400 6200 At 000 et Se
68. mode is enabled command processing continues while motion is in progress True Enable continuous command mode False Disable continuous command mode Other command control determines how the controller will respond after receiving a KILL PAUSE RESUME or STOP command Continue Exec on Limit determines whether the controller s command buffer will be saved upon hitting an end of travel limit or a soft limit If enabled all commands following the command currently being executed will remain in the buffer when a limit is encountered Otherwise the commands in the buffer will be discarded e Continue Exec on In Position determines whether the command Processing will pause until the in position signal is received from the drive If enabled command Processing is paused until the in position input is active 6000 command reference COMEXC COMEXK COMEXL COMEXP COMEXR COMEXS i Page 18 Configuration Vis KI rcm m Page 25 of 113 RGBINSP00017968 Motion Toolbox User Guide Set Continuous Preset Mode immediate T z Execute VI T 34 Addi port default Addr port out Axis 1 no change Axis 2 no change H Eror Axis 3 no change Axis 4 no change Specifies whether the axes are to move in a continuous fashion at a specified velocity or move a preset distance established with the Set Distance VI Axis 1 4 determines the mode for the respective axis
69. mples to get a feel for programming with Motion Toolbox Make sure to rename the example and demonstration VIs before modifying If you accepted the default demo directory when installing Motion Toolbox you will find the example and demonstration Vis located in MTDEMO off the LabVIEW root directory a Open the Simple Preset Motion VI located in the LABVIEW MTDEMO EXAMPLES LLB VI Library b If you have an AT6400 verify that the address setting in the VI diagram is the same as your installed AT6400 If you have a 6200 you must replace the Open AT6400 VI with the Open 6200 VI and change the input address from 768 to the proper serial communications port usually COMI or COMO Put the VI in Edit Mode CTRL M to make these changes c Return to the front panel the VI is now ready to run Press the Run button arrow button d The VI is now running Enter a distance to travel and press the GO button on the front panel to initiate motion The commanded distance is relative to an absolute counter in this case In order for the motor to move the value displayed in the distance control must differ from the current position indicated on the chart e If the motor does not move consult the Gerting Started Section of the Hardware Reference guide for your particular controller BEEN LL a Page 4 i Introduction Page 13 of 113 RGBINSP00017956 Related Publications AT6400 Indexer User Guide 6200 Indexer User Gu
70. not used within a program The default state for each input is enabled When the input is enabled the func will be active tion programmed for that input Input byte 1 3 are clusters of eight 32 bit integers that specify the enable disable state of the Corresponding input Each cluster is Ordered from the least significant input to the Most significant 0 Disable input and leave off 1 Disable input and leave on 2 Do not change enable Setting 3 Enable the input 6000 command reference INEN j i I a EEE 13 Fage 09 ROBUST ry f Hn a 4 Am y 1 A H 1 d 5 Mass Motion Toolbox User Guide Set 6000 Input Function Immediate T Execute Vi T i Addr port default Addr port out Axis prog 1 TE input 1 EI Error Function 0 Aj VI use the Enable 6000 Input Functions VI 1352 Axis prog specifies the axis number if required by the function or in the case of function 15 it specifies the program number to execute 132 Input Specifies the input number to define 132 Function specifies the function io assign to the input and axis 0 No special function BCD program select Kill 2 3 Stop 4 Pause Continue 5 User fault 6 Reserved 7 Trigger interrupt Position Capture and Registration 8 Interrupt to PC AT 9 Jog CW 10 fog CCW 11 Jog speed select 12 Reserved 13 Reserved 14 Reserved 15
71. nter amp Timer Mss iris eir fence EIL E Counter amp Timer VI Descriptions Start 6000 Timer Stop 6000 Timer Configure Encoder Input as Counter oe Reset 6000 Hardware OR M MN EN Configuration Vis Salern Oates Eesaia ene nae ences essa seen aun trem 15 Configuration vi Descriptions ML E 15 Set Motion Sealing Factors ai celal ca 15 Set Path Scaling Factors DM 16 Enable Scale Factors IE ROPA es17 Set Participating AXES occ iud A Configure Command Control sisu 18 Set Continuous Preset Moda ee hv LL 2 19 Set Absolute incremental Mode 19 Set Drive Resolution E ADR n 20 Set Drive Fault Ma NENNEN 20 be DeL D LL we 21 Configure Feedrate dir LE DH RR E 22 Enable Feedrate DenMecun ie uu e 23 Set Encoder Resolution uM 23 Set Encoder Motor SHPMe LL nnen 24 13 US P POON J Configure Hom ing sisse enne nennen ntn nnne 24 E Configure Position Maintenance scents 26 aa Enable Position Maintenance eee 27 Configure Stall Detection Enable Stall Detection Set Pulse Width cessisse enne nnne nne Device Communication eeeeee eene nene nennen eene ee S T Device Communication Vi Descriptions ce cee cee ese ee e 31 Open AT6400 ee yan BA a Open 6200 sisse eenente nnne nennen nter 32 Close Device eese eene nnnm nennen 233 Set Default Addr Port 33 i Reset 6000
72. ntroller as i commands Immediate 6000 commands are pre pended by the Specifier Immediate commands are executed as soon as the controller receives them Non immediate commands are buffered and will execute when the previous non immediate command s are completed inmediate or non immediate True Pre pend commands by the immediate specifier False Do not pre pend commands by the immediate specifier E Addr port specifies eithe AT6400 product or the se 6200 Product LE Communications port i 2 Communications port 2 3 Communications port 3 4 Communications port 4 AT6400 Product Valid AT6400 address 768 to 1023 decimal 300 to 3FF hex x32 Axis Specifies the axis the VI affects Valid 6200 axes are 1 2 Valid AT6400 axes are 1 4 T the switch selected address or the rial port connected to a 6200 product Page 8 Using Motion Toolbox hether the VI should execute normally or cards data acquisition cards or guration information to the of the application and the burden of the case Statement is ommand s assembled by the VI 113 PADE DP E POE AE E pec c ues ea Motion Toolbox User Guide Error returns any error conditions from the VI Possible error codes are given as an appendix to this user guide Motion Toolbox Error Handling All Motion Toolbox VIs capable of generating an error have an Error output terminal The possible error codes are given as an appendix to t
73. on Toolbox User Guide Display Variable on RP240 Immediate Execute VI m sign T Formats and writes the spec ified variable to the RP240 current cursor location s display Starting at the Note This VI is only applicable to the GXX x52 Variable to display Valid range is 1 to 150 E Whole Digits to display Valid range is 0 to 9 Fractional Digits to display Valid range is 0 to 8 Display sign determines if the or sign is displayed True Display sign False Do not display sign 6000 command reference DVAR Set RP240 LED States immediate T esee Execute VI T i Port default Fis LED States fall oft Controls the state of the eight programmable LEDs on the RP240 Note This VI is only applicable to the 62XX Page 96 RP240 Display VIs EN fea Prado rrt eet rose pens i pw 13 Page Tog A E Motion Toolbox User Guide LED States is a cluster of 8 booleans Each boolean controls the corresponding LED on the RP240 6000 command reference DLED il Clear RP240 Display Egy a aema m eme Execute VI T Part default Clears the specified line s of the RP240 s display i Note This VI is only applicable to the 62XX 337 Line to clear 0 Clear all lines 1 2 Clear specified line 6000 command reference DCLEAR Position RP240 Cursor Immediate T Hn Changes the
74. on VIs This chapter contains descriptions of the motion VIs included with Motion Toolbox The figure below displays the Motion function palette TETTE ede dena Motion Function Palette Motion VI Descriptions Initiate Motion Immediate T ny Execute VI T my i Addr part default 71 772 Addi poit out Start azis 17 F Start azis 2 F TT Start axis 3 F Start axis 4 F Initiates motion on the specified axes If motion does not occur after executing this command verify the drive fault level pulse cutoff and limits are configured properly Start axis 1 4 A true initiates motion on the respective axis 6000 command reference GO Motion VIs Page 90 of 113 RGBINSP00018033 Motion Toolbox User Guide Stop Motion Immediate T Execute VI T Addr port default Stop axis 1 F Stop axis 2 F Stop axis 32 F Stop axis 4 F Stops motion on the Specified axes The deceleration used for Stopping will be as set by the last dec eleration command see Set Deceleration VD XE Stop axis 1 4 A true stops the respective axis 6000 command reference S COMEXS Set Distance Immediate T e Execute VI T Addt port default Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 ino Change Defines either the number of units the motor will move or the a
75. onse part of a query operation Enable Tracing True Enable 6000 communications tracing False Disable 6000 communications tracing p MO Data flow out is always true It can be used to force correct sequencing of this VI 6000 command reference N A Configure Communications Tracing Data flow out always true Sets the trace path used for communications tracing This VI also specifies whether to delete the trace file indicated by Trace file path upon executing Open A16400 or Open 6200 Trace file path c Naotion Delete trace file upan open Note Very good performance is achieved by directing the trace file to a RAM disk Trace file path specifies the path of the file to use for dumping communications information during tracing Delete trace file upon open E True Delete trace file upon executing Open 6200 or Open AT6400 False Do not delete trace file Data flow out is always true It can be used to force correct sequencing of this VI 6000 command reference N A Device Communication Page 39 em H o T id Page 45 of 113 RGBINSP00017988 Motion Toolbox User Guide Delete Trace File Trace file path c Amotian __ Deletes the Specitied communications trace file Trace file path specifies the trace file to delete 6000 command reference N A Command Snooper Allows viewing of commands sent to the It does not display fa
76. op 6000 series program and path files and 1 download them using Motion Toolbox Motion Architect s setup facility is a 1 great way to generate setup and configuration files for your application You E can also use CompuCAM Compumotor s Computer Aided Motion program to E generate complex motion profiling programs By downloading program or path files and controlling their execution the Motion Toolbox application acts as a supervisor over the 6000 controller This approach offers excellent performance for demanding applications Complete file path is the path name of the file If file path is empty default value or is Not A Path the VI displays a File dialog box from which you can select a file 6000 command reference N A Enable Communications Tracing tract Enable Tracing T 8 Data flow out always true i Enables tracing of 6000 communications When enabled tracing will dump all i command and query information to the file specified by trace path see Configure Communications Tracing VY This is a very effective tool for debugging Motion Toolbox applications Each line of the trace file dump is pre pended by the address of the command or query destination and a operation specifier The operation specifiers are Page 38 Device Communication Page 44 of 113 RGBINSP00017987 Motion Toolbox User Guide is Send Receive Question the command part of a query operation Answer the resp
77. problems using Motion Toolbox use Motion Architect to verify your 6000 controller is functioning Properly See the description for the Download 6000 File VI for more ways to use Motion Architect for application development introduction Page 3 ied owen le ge oc oe ra eer mata ome ET P 4 3d i 1 i 1 1 j 1 vua F Be fi E EAE ALL T Xl my cea m ca eme d Speedo peep acerca METRE FUN ONE HM RC RM VEND ntt t FD M tm m v eem ue sn e 2 of 113 meet RGBINSP00017955 Motion Toolbox User Guide 4 Read the indexer user guide for your product If you wish you can skim the examples on programming the 6000 controller as Motion Toolbox will isolate you from most of these details Read the 6000 Series Command Language Overview chapter in the 6000 Series Software Reference Guide This will provide important information on system performance 6000 inputs and outputs and programming restrictions Because Motion Toolbox essentially assembles 6000 series commands and sends them to the controller you may want to read the commands related to your application in the 6000 Series Software Reference Guide Each VI description in this manual lists the applicable 6000 commands related to the VI Review the example and demonstration VIs included with Motion Toolbox Study the diagrams to see how Motion Toolbox Vis are used Try modifying and adding your own ideas to these exa
78. pumotor s entire liability and your exclusive remedy shall be at Compumotor s option either a return the price paid or b replacement of the software that does not meet Compumotor s Limited Warranty and that is returned to Compumotor with a copy of your receipt This limited warranty is void if failure of the software has resulted from accident abuse or misapplication Any replacement of software will be warranted for the remainder of the original warranty period or thirty 30 days whichever is longer Compumotor disclaims all other warranties either expressed or implied including but not limited to implied warranties of merchantability and fitness for a particular purpose with respect to the software and the accompanying written materials This limited warranty gives you specific legal rights You may have others which vary from state to state In no event shall Compumotor or its suppliers or distributors be liable for any damages whatsoever including without limitation damages for loss of business profits business interruption loss of business information or other pecuniary loss arising out of the use or inability to use this Compumotor product even if Compumotor has been advised of the possibility of such damages Because some states do not allow the exclusion of limitation for liability for consequential or incidental damages the above limitation may not apply to you ats uet Eh aree pamm Sici miim San Sama
79. r Opens 6200 at specified serial port and initializes the unit for Motion Toolbox communication If delete trace Jile upon open see Configure Communications Tracing VI is enabled the trace fil e is deleted E Baud Rate Spec 6200 controller ifies the serial communications baud rate The normally uses the default 9600 baud rate p Serial buffer size Indicate 5 the size of the input and output buffers allocated in PC memory for comm unications through the specified port If the buffer size is less than or equal to 1 K then 1 K is used as the buffer size 6000 command reference N A Page 32 Device Communication f113 tapea RGBINSP00017981 SSA a hs Ww mI d E 1 11 1 1 1 LI I1 Li Motion Toolbox User Guide Close Device Addr part default Closes the communications link with the 6000 product If the device is a 62XX product the serial port is released 6000 command reference N A Set Default Addr Port default Addr port 768 or 300h sadak Add port aut E Sets the value of the default address port This forces all subsequent calls to Motion Toolbox Vis to use this value if the Addr port terminal is not wired 6000 command reference N A Reset 6000 Immediate T Execute VI T Addr pert default Resets the 6000 controller and re initializes it to a state appropriate for Motion Toolbox communications Note This
80. rating system failed Verify AT6400 is in computer and address specified is correct Verify board functions properly with Compumotor s Motion Architect Command string exceeds 256 characters Parsing error getting fast status from 6200 Ensure RS 232 communications is functioning properly Page 110 of 113 RGBINSP00018053 Motion Toolbox User Guide Technical Support For technical Support please call the Compumotor Applications Department at 800 358 9070 or 707 584 7558 You can also send a fax to 707 584 3793 i Please be prepared to state your Product serial number when calling in for assistance Parker Compumotor h 5500 Business Park Drive In Rohnert Park CA 94928 Compumotor Bulletin Board Service k To dial in you must have at least a 2400 baud modem with your computer i Set the communications parameters to 8 data bits 1 stop bit and NO parity j virtually ail communicatio ns programs will allow you to set these parameters I The BBS number is 707 584 4059 b Once connected you will be asked some questions about yourself When you 3 have completed the personal information you are free to explore the services E DE of the bulletin board Systems Integration and Consulting mp TN specializing in the development of LabVIEW based Systems Snider Consultants Inc e 5100 202 Tybrook Court
81. se Motion Architect to define and debug your programs You can then download your programs to the 6000 controller within LabVIEW using Motion Toolbox s Download 6000 File VI Program name specifies the name of the program to execute wg aug an A Li Li Li LI 6000 command reference RUN DEF pee m We A M M M n Motion Vis Page 93 e g Ve Page 98 of 113 RGBINSP00018041 RP240 Display Vis This chapter contains descriptions of the RP240 VIs included with Motion Toolbox Only use the RP240 VIs with 62XX products The figure below displays the RP240 Display function palette E RP240 Display Funciion Palette RP240 VI Descriptions Write Text to RP240 Immediate T 777 i Writes the specified text to the RP240 s display starting at the current cursor dii location The message string may be up to 70 characters in length The string IE may consist of any characters except quote backslash colon and E asterisk In Note This VI is only applicable to the 62XX M o IDA ape Text to display cR F l El E 6000 command reference DWRITE t a i Is 1 P ip ene i 2 RP240 Display VIs Page 95 i 1 i 3 B i i i d i H Page 99 of 113 RGBINSP00018042 SES TEESE RD ad sens tra hee Moti
82. ser status User status bits 9 16 is a cluster of eight booleans that report the status of the second byte of the user status 6000 command reference TUS INDUSE INDUST Timer Status Parse z 2 ms counter Tini statis Programmable timer value Parses the Timer status output of the Get Fast Status VI and returns the 2 ms time frame counter and the programmable timer values The programmable timer is started and stopped with the Start 6000 Timer and Stop 6000 Timer VIs Timer status is the Timer status output of the Get Fast Status VI 2 ms counter contains the value of the counter Range is 0 to 65 535 counts The counter rolls over after 65 535 32 Programmable timer value contains the value of the programmable counter Range is zero to 999 999 999 milliseconds 6000 command reference TTIM Fast Status VIs Page 53 jd 7 E i uH i b iid z s B f DT E i i i 1 id j i id i i H SU d i E 1 Hl i i j ut i TT F Di i ii n Page 59 of 113 RGBINSP00018002 Motion Toolbox User Guide Analog input Parse Analog voltage ch 1 alog voltage ch 2 alog voltage ch 3 Analog vollage ch 4 Parses the 1 0 stams Output of the Ger Fast Status VI and returns the values op M the analog inputs on the joystick connector VO status is 255 Corresponds to 2 5 volts 6000 command reference
83. setting 6000 command reference EPM Configure Stall Detection Immediate T m Execute VI T m s i Addi poit default onfig Addi port out reel Backlash deadhand no change Error Kill on Stall no change Configures stall detection on the respective axis To enable these settings use the Enable Stall Detection VI a Backlash deadband establishes the maximum number of motor steps that a move can fall behind after a change in direction before a stall detection is initiated Valid range is 0 to 99 999 999 motor i steps Configuration Vis Page 27 Motion Toolbox User Guide eee Page 34 of 113 RGBINSP00017977 Motion Toolbox User Guide Kill on Stall indicates if pulses to the drive are immediately stopped when a stall has been detected on the specified axis Stall detection must be enabled before this command will have any effect 0 Disable Kill on Stall 1 Enable Kill on Stall 2 Do not change current setting 6000 command reference ESDB ESK Enable Stall Detection immediate T Execute VI T 3 Addr port default enable Addi poit out Axis 1 no change stall Axis 2 no change deret Errar Axis 3 no change Axis 4 no change Determines if stall conditions defined with the Configure Stall Detection VI are monitored Axis 1 4 determines the mode for the respective axis 0 Disable stall detection mode 1 Enable stall detection
84. st status transfer o Command Snooper to debug programs open the VI and move it to a convenient location The VI will display the commands as the 6000 controller It may be helpful to intended for use in programs 25 Cmd Buffer is only used by Motion a program 6000 command reference All 6000 commands used by Motion Toolbox can be displayed Page 40 Device Communication 6000 controller by Motion Toolbox T query information To use y are sent to the put LabVIEW in debug mode to slow down the execution of your program This VI is for debugging only and is not Toolbox Do not use this VI in f113 PADR AR RGBINSP00017989 Fast Status Vis This chapter contains descriptions of the fast status VIs included with Motion Toolbox The figure below displays the Fast Status function palette i TOE ae piad os ez P imit mapu Gutpad P input A Fast Status Function Palette 1 maen SA om a n NN ld a Fast Status VI Descriptions 1 Get Fast Status B Addr port default 6200 fetch control Get all 1 L1 Reads fast status information from the specified 6000 controller The Fetch control input specifies what clusters to actually retrieve and is only relevant when using 62XX products To use this VI effectively place it in a while loop that iterates at a rate that provides an appropriate s
85. t Sftor param x6400 6200 pns Potting Polling 12 1f ea cir 6000 6000 3 send rcecive ES Ea mae a T Ei tracing ffa tracd Eb di comm E E mise Device Communication Function Palette Device Communication VI Descriptions Open AT6400 Adds 300 hex Aux Type aux Tj Os Load Mode 1 prompt ifl Show download dialog yes AT6400 timeout 2000 ms Opens AT6400 at the specified address downloads the AT6400 operating system and initializes the card for Motion Toolbox communication If delete trace file upon open see Configure Communications Tracing VI is enabled the trace file is deleted Aux Type specifies the auxiliary board use 0 AUXI 1 AUX2 SS N D evice Communication Page 31 i i H 1 Page 37 of 113 RGBINSP00017980 Motion Toolbox User Guide i33 OS Load Mode 0 Always load operating system l Prompt user if operating system is already loaded Show download dialog True Display meter dialog indicating progress of downloading AT6400 operating system False Do not display dialog while downloading operating system E AT6400 Timeout Sets the AT6400 board response timeout This value is used by the driver DLL when communicating with the AT6400 controller and is not related to the AT6400 polling parameters 6000 command reference N A Open 6200 Part 2 eet Port out Baud Rate S600 Serial buffer size 4000 by zd Erro
86. tatus update for the application Feed the outputs of ft di Fast Status VIs Page 41 Page 47 of 113 RGBINSP00017990 Motion Toolbox User Guide Get Fast Status to the appropriate parsing VIs Place a Get Fast Status V1 in each while loop of an application that needs status information Alternatively use global variables to broadcast the fast status information to other loops Avoid using multiple instances of this VI within a Single while loop as this will incur unnecessary overhead Fetch Control specifies what status clusters to read from the 62Xx f indexer At 9600 baud it typically takes between 20 and 35 F milliseconds to fetch a fast status block cluster from a 6200 1 indexer By fetching only the status clusters that are needed 1 application performance is enhanced Bit 1 Enable disable fetching of Motor status This cluster 1 contains all motor and encoder positions and velocity information Bit 2 Enable disable fetching of Misc status This cluster contains the controller s axis status system status and user status information l E Bit 3 Enable disable fetching of Timer status This cluster id contains values for the programmable timer and the two B millisecond time frame mark Bit 4 Enable disable fetching of I O status This cluster T E retrieves the current physical values for the inputs and i ae 4 outputs For example to configure Get Fast Status to fetch on
87. the 1 ms timer resolution dramatically increases the performance of 6000 communications particularly with the 6200 Under certain circumstances however the increased interrupt load caused by the higher resolution timer may exceed your PCs capacity to handle the interrupts Please read the section Timer Resolution in the LabVIEW release notes to see if a 1 ms resolution will be appropriate for your application VI Labeling Conventions Bold and Non bold The I O parameters of Motion Toolbox Vis are labeled in bold and non beld text A bold label indicates the parameter is important and is normally wired when the VI is used in an application Non bold labels indicate that the parameter can often be left unwired thereby using the default without affecting the VIs primary function Default Inputs Parenthesis on the label of an input parameter indicate the default value the VI will automatically use if the terminal is left unwired The inputs of many VIs in Motion Toolbox default to no change meaning that no change is made to the current setting Page 10 Using Motion Toolbox Siena liter Page 18 of 113 RGBINSP00017961 Counter amp Timer Vis Counter amp Timer Vis This chapter contains descriptions of the counter and timer Motion Toolbox The figure below displ palette VIs included with ays the Counter amp Timer function Counter amp Timer Function Paletie Counter amp
88. tus Output of the Ger Fast Status VI and returns the configuration status of each axis Misc status is the Misc status output of the Ger Fast Status VI Config status axis 1 4 is a cluster of six booleans that report the axis specific status of the following parameters In absolute mode true In incremental mode In continuous true in preset mode In jog mode true Not in jog mode In joystick mode true Not in joystick mode In encoder Step mode true In motor Step mode Position Maintenance ON true OFF 6000 command reference TAS 992296 Encoder Feedback Status Parse Encoder status axis 1 Encoder status axis 2 Encoder status axis 3 e Encoder status axis 4 Misc Status eam E Parses the Misc status output of the Ger Fast Status VI and returns the encoder feedback status for each axis Misc status is the Misc Status output of the Get Fast Status VI id Page 48 Fast Status Vis 1 DP IRE wu dirus EN ae cA y Temi SB xm MEUM Rm 113 PASES I S Motion Toolbox User Guide Encoder status axis 1 4 is a cluster of two booleans that report the axis specific status of the following parameters Stall Detected Is true if stall detected Within Deadband Is true if motor is Within deadband 6000 command reference TAS Hard Limit Status Parse Hard limit status axis 1 Y H
89. ult Axis 1 na change Axis 2 no change Axis 3 no change Axis 4 na change Sets the velocity for the specified axes in units per second The velocity d o remains set until changed with a subsequent Set Velocity command If scaling 4 00 is enabled the velocity values are internally multiplied by the velocity scaling factors see Ser Motion Scaling Factors VI Axis 1 4 defines the velocity for the respective axis A aa if 6000 command reference V Set Acceleration Immediate T Execute VI T mmm Addi port default Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no change Sets the acceleration rate for the specified axes in units per second squared The acceleration rate remains set until changed with a subsequent Ser Acceleration command If the deceleration rate has not been defined the E A acceleration rate will be used to stop motion Once the deceleration rate has E been defined the acceleration rate no longer affects deceleration If scaling is 4 pr E enabled the acceleration values are internally multiplied by the acceleration E scaling factors see Set Motion Scaling Factors VI Axis 1 4 defines the acceleration for the respective axis 6000 command reference A Page 88 E Motion VIs j a Page 93 of 113 RGBINSP00018036 Motion Toolbox User Guide Set Deceleration Execute VI T 3 Addr port default Addr port out Axis
90. xecute VI T 7 Addr poit default dr Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no change Sets the drive fault level for each axis To enable the drive fault input you must use the Enable 6000 Input Functions VI to enable input functions Use the following table for setting the drive fault level for Compumotor drives Compumotor Product Drive Fault Level BL L LE PS7 UD2 UDS amp UDI2 Active Low Compumotor Plus LN OEMSeries S amp Z Active High a al scsi cat a a iene Page 20 Configuration VIs Page 27 of 113 RGBINSP00017970 metere pne e hm 3 rud 2 AE Fe no RE Jade AMENS m ate E x m T Zi 1 1 EE Motion Toolbox User Guide sz Axis 1 4 determines the drive fault level for the respective axis 0 Active Low l Active High 2 Do not change active setting 6000 command reference DRELVL Enable Drive Immediate T 1 Execute VI T m Addr port default bi Axis 1 no change Axis 2 no change Axis 3 no change Axis 4 no change Energizes or de energizes a Compumotor motor drive combination Axis 1 4 determines the status of the respective axis 0 Disable drive l Enable drive 2 Do not change current setting 6000 command reference DRIVE Configuration VIs Page 21 z ES x AT oem porch 4 Virgen NL EEA REE o re f o agapan een en ean ate o Page 28 of 113 RGBINSP00017

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