MotionPro Installation & Operations Manual
Contents
1. On the left side of the equation for speed enter the number of user speed units that equate to this maximum RPM value This establishes a ratio to be used for speed conversion In the window below the speed limit is left at the motor maximum 4020 RPM and user units are also in RPM and thus 4020 is also on the left side of the equation User Units for acceleration are set similar to those of speed The absolute maximum acceleration that will be allowed is entered on the right side of the equation in rev sec You will be able to set another range limit below this value but not higher On the left side is entered the corresponding maximum user unit value for acceleration In the window below on the right side the maximum remains at the motor maximum established for the inertial load and on the left side we have entered the matching value in radians sec since that is desired in this example case An example of this window follows entry fields are bolded Axis 1 of 1 2 User Units Form Position Transducer Resolution Axis 6000 Pacer 6000 cnts rev Conversion Factor Limit User Units Motor Units Axis Position Pacer Position 360 degrees 6000 counts Machine Axis Speed Limit 4020 RPM 4020 RPM Pacer Transducer Speed Limit 4000 RPM Machine Motor Accel Limit 20061 rad sec sec 3193 rev sec Time all axes 1 msec 1 msec Gear Speed Multipliers Output 1 Input 1 360 degrees 602. WARNING GN3 PRO f Every system is tested at ORMEC in the final cell of our manufacturing facility The motors are bench secured the shafts are left free spinning the system is cabled and then power is applied A test program is loaded into the Generation Ill Controller a configuration file is established and the system is fully tested The tested configuration is printed and supplied with the documentation for the system At the factory the test program named SETUP BAS and the configuration file named CONFIG BAS are loaded into the controller s non volatile memory and remain there through shipment Thus it is immediately available for running a similar commissioning test at your facility after installation and cabling of the system IT IS STRONGLY RECOMMENDED THAT THE SERVO SYSTEM IS INITIALLY TESTED WITH THE MOTOR SHAFTS MECHANICALLY DISCONNECTED FROM ANY MACHINE OR LOAD THIS TEST PROGRAM IS GENERIC IN NATURE AND IS NOT INTENDED FOR USE ON MACHINERY BUT RATHER AS AN EXERCISER FOR THE SYSTEM S MOTORS Once communications are established between the IBM PC and the Model 40 type RUN Enter to start the SETUP program which was installed in the controller at the factory The SETUP program is menu driven and will allow you to 1 Home Index and Run all the motors 2 Configure observe and manipulate the Integral and Extended I O 3 Configure and observe the Axis I O 4 Interactively adjust servo loop tuning 5 V
3. Setup Program User Files MotionBASIC MMI Tool Files MotionPRO Software Packages are provided on 3 5 disks 1 44M from ORMEC The different package styles are MPR SDK Servo Developers Kit Full complement of software MPR SMK Servo Maintenance Kit Excludes MultiEdit WindowDOS amp MotionBASIC Tools An INSTALL command found on the first diskette will transfer MotionP RO files from the disks onto your development system s hard drive The installation creates subdirectories on the destination Hard Drive and copies files from floppy to these subdirectories The resulting directory structure and the file transfers are shown in Figure 1 onto the Destination Hard Drive Existing Root Directory MotionPRO Files WindowDOS Files Hypertext Manual Files New ORMEC Sub Directory MotionBASIC OIT Tool Files New ORMEC MBTOOLS Sub Directory New ORMEC SHELLM8 Sub Directory New ORMEC MMI840 Sub Directory New ORMEC SHELL Sub Directory page 5 Motion PRO Note Requirements Installation The software packages Multi Edit amp WindowDOS as provided on ORMEC diskettes have been preconfigured to work in a complementary manner with the ORMEC Software packages The manufacturers original diskettes and original documentation are also provided The original manuals that will provide extensive information on these software packages are WindowDOS User s Man
4. lt command gt arg list gt where lt menu item gt Menu item text that will appear on applications menu This must begin in column 1 lt hot key gt A single letter from lt menu item gt that will select the item when pressed usually the first letter Optional prefix which causes MotionPRO to be unloaded from memory before this application is executed Only has effect when MotionPRO is invoked from the MP BAT file Must not begin in column 1 gt Optional prefix which causes MotionPRO to execute this application from a secondary copy of the command processor This allows lt command gt to be a batch BAT file Must not begin in column 1 lt command gt Name of the program to be executed Program must be a EXE or a COM file or a BAT file if the gt prefix is used The DOS PATH will be searched if no path is specified Must not begin in column 1 arg list gt List of command line arguments separated by spaces A special argument of the form lt f text gt will prompt the user for a file name with a text message and then replace itself with the file name The following lines are in the MP APP File as provided by ORMEC Edit F5 E me f Enter name of file to edit gt OSA O osa Window DOS W gt wd35 x List File L gt mplist lt f Enter name of file to list gt File Print F cprint m4 w84 155 f Enter name of file to print gt View MP CONFIG V printcfg lt f En
5. as follows 1 the current working directory 2 the directory and file name specified by the DOS environment variable MPCFG 3 the directory specified by the DOS environment variable MPPATH or the directory containing MP1 EXE MP MTR File This is the database used by MotionPRO to supply the model numbers and specifications for all ORMEC motors It is used by the Axis Setup forms This file must be located in the directory specified by the DOS environment variable MPPATH If MPPATH is not defined MP MTR must be located in the same directory as MP1 EXE GN3 PRO f MotionPRO MotionPRO Environment Variables GN3 PRO f Appendix 1 MotionPRO uses several DOS environment variables to locate various files it needs All of these environment variables are optional but some may be needed in certain configurations Below is a detailed description of these variables MPPATH Environment Variable This environment variable should be defined when MotionPRO is used under version 2 x of DOS or when MP1 EXE is not located in the DOS PATH It contains the full directory path where the MotionPRO files are located MP1 EXE uses this environment variable to find MP HLP MP APP MP CFG and MP MTR If not defined MotionPRO looks in the same directory as MP1 EXE under DOS 3 0 or later or the current working directory under DOS 2 X Example SET MPPATH C ORMEC MPAPP Environment Variable This optional environment
6. otor Shaft 0 000142 in lb sec ertia 0 000210 in 1b sec me Constant 3 00 msec tegral Factor 100 in Factor 1005 tegral Factor 0 n Feedforward Factor 05 edforward Factor 1005 NOTE GN3 PRO f MP CONFIG SUBROUTINE GENERATION Having filled out these forms for each axis in your system your are able to generate the MP CONFIG routine Again this routine consists of variable assignment statements only The routine s program lines set ORMEC Variables to the values that you have keyed in on the configuration forms MP CONFIG can be written to some destination when you exit from the GEN III Configuration Activity You have choices as to where this code is written You may select to write the MP CONFIG subroutine to the GEN III Controllers Non Volatile Program Buffer or you may write it to a disk file where you specify the name of the file Only when this subroutine is executed do these Volatile DSP Memory Variables actually take on the values specified in these lines of code After the Configuration Utility constructs MP CONFIG it does execute the routine Otherwise a direct command such as GOSUB MP CONFIG would need to be issued to execute this routine and set the variables to the values entered page 21 MotionPRO Generation III System Configuration page 22 An example of the code that is automatically generated by this utility now follows Keep in mind that this is a complete set of code for one axis
7. pressed The Hot Key to call Hypertext Help is lt Alt gt lt gt or Alt An important concept to grasp is that Hypertext is the means to view manuals that are stored in disk files Therefore the term Hypertext does not refer to a page 11 MotionPRO Modes of Operation Talk Mode Select Mode Input Mode Execute Mode Establishing Communications page 12 Using MotionPRO particular manual but rather a means to read any manual in your hard disk library The MotionPRO program operates in four fundamental modes Note there is an indicator field in the right hand bottom screen border that indicates the current Mode Talk Mode enables the user to communicate directly with the Gen Ill CPU and to write edit and execute MotionBASIC commands statements and programs f you do not observe a Menu Bar at the top of the screen and are prompted with a blinking cursor you are in Talk Mode You must be in Talk Mode to communicate with the GEN III Select Mode is used to access the MotionPRO Menus It is engaged by using the F2 function key to call the Menu After pressing the F2 key the Menu Bar is displayed at the top of the screen To exit Select Mode exit menu and return to Talk Mode use the Esc Key Input Mode is engaged whenever the user is expected to input information from the keyboard This would typically be during configuration of the system when filling out forms and also whe
8. single entries If one particular value is different for an axis it can be configured by using the lt Pg Up gt and lt Pg Down gt keys which scrolls through the set of axes individually allowing the change of one or more unique parameter Function Key Summary Tab Moves between entry fields in the form lt F2 gt Loads the default value into a field lt Pg Up gt Scroll up through Axis Set individually lt Pg Down gt Scroll down through Axis Set individually lt Enter gt Scroll through choices for text fields Arrows Move within fields left right Between fields up down Motor Load Parameters This window allows you to select a motor by Model Number from one of the standard motors listed in the system When selected MotionPRO accesses a file MP MTR and obtains the following information 1 Position Transducer Resolution 2 Peak Motor Torque 3 Rated Motor Torque 4 Drive Input Voltage at Peak Torque 5 Motor Inertia 6 Maximum Motor Speed 7 Drive Input at Max Speed 8 Absolute Encoder Feedback In addition you can key in a Load Inertia value for each axis if known M MotionPRO will then use these values to cap the speed and acceleration limits of the system entered in the subsequent windows An example of this window follows entry fields are bolded Motor Load Parameters Form Axis 1 of 1 2 Motor Model Number MAC E002A1 Feedback INCREME
9. 00 counts GN3 PRO f page 19 MotionPRO Generation Ill System Configuration Range Variables This window allows you to set the application maximum allowable speed acceleration deceleration torque and position error In addition you can set up the maximum n Position Error The values for Speed and Acceleration and Deceleration can only be as high as the left side of the user units form The value for Torque can only be as high as the peak torque value in the Motor Load Parameters Form An example of this window follows entry fields are bolded Axis 1 of 1 2 Range Variables Form Maximum Allowable Machine Parameters Machine Limits Speed 3600 RPM Speed 4020 RPM Acceleration 12000 rad sec sec Accel 20061 rad sec sec Deceleration 12000 rad sec sec Maximum Allowable Motor Parameters Motor Limits Drive Output 4 22 in lbs Peak Torque 4 22 in lbs DRV MAX 29423 8 98 volts Rated Torque 1 41 in lbs Max Speed 4020 RPM Maximum Controller Parameters Position Error 360 degrees In Position Error 2 degrees Operating Parameters This window allows you to set up operating parameters such as the direction of rotation of the motor for forward travel a Modulo Position Counter a choice of position data to output and the type of acceleration profile used in MOVE statements Limits are also set from this form The software forward and rever
10. I ETURN LISTG GN3 PRO f MotionPRO Final System Configuration Chapter 8 Final System Configuration 8 Final System Configuration WARNING GN3 PRO f When initial configuration was done at the factory the Servo Gains were for the selected motors with no load inertia attached For optimal performance and certainly if the load inertia for an axis is much greater than the inertia of the selected servomotor each servo system should have its Servo Loop Tuning Parameters adjusted after it is connected to the load THESE INSTRUCTIONS ASSUME THAT YOU NOW HAVE EXPERIENCE WITH THE SETUP BAS PROGRAM AND HAVE ALREADY TESTED YOUR SERVO MOTORS WHILE THE MOTORS WERE DISCONNECTED FROM THEIR APPLICATION LOADS DO NOT CONTINUE UNLESS YOU HAVE PREVIOUSLY TESTED THE UNCOUPLED MOTORS WITH THIS PROGRAM Couple the motor shafts to the machine loads Execute the SETUP BAS program with associated MP CONFIG subroutine Of course these programs must be loaded into the controller if they are not already in Non Volatile Memory With the program loaded into the controller type RUN and press the Enter key to start the SETUP program again and perform the following steps for each axis in the system a Key in the appropriate value for total inertia INERTIA including both motor and load If load inertia is not known optionally fine tune the system by adjusting the value for INERTIA empirically This may be done by accessing the T
11. LANK page 36 GN3 PRO f MotionPRO Appendix 6 Appendix 6 Windows Information A6 Windows Information This appendix section contains information on the files used with MotionPRO in a Windows environment It is intended for experienced Windows users The following files are needed by MotionPRO MP PIF Program Information File for MotionPRO MP ICO Icon for MotionPRO MBHYP PIF Program Information File for ORMEC Hypertext Help MBHYP ICO Icon for ORMEC Hypertext Help These files are described below in greater detail so that the experienced user may fully understand their use MP PIF File This file changes the Start up directory to C and runs the batch file CAORMECWPRO BAT with 343KB of memory required Users that prefer a different starting directory should edit a copy of this file MP ICO File This file contains the graphical icon for the MotionPRO program item Users that prefer a different icon should edit a copy of this file MBHYP PIF File This file changes the Start up directory to C ORMEC and runs CAORMECYORMEC EXE with c O x C ORMEC MB HYP as Optional Parameters and 160KB of memory required Users that prefer a different starting directory and or options should edit a copy of this file MBHYP ICO File This file contains the graphical icon for the ORMEC Hypertext Help program item Users that prefer a different icon should edit a copy of this file GN3 PRO f page 37 MotionPRO Cr
12. MotionPRO Installation amp Operation Communication amp Programming Environment for Generation Ill Controllers GN3 PROf Copyright c 1990 1995 Ormec Systems Corp All Rights Reserved 19 Linden Park Rochester NY 14625 716 385 3520 May 16 1995 COPYRIGHT NOTICE Copyright c 1995 by Ormec Systems Corp All rights reserved This manual and the software it describes remain the exclusive property of Ormec Systems Corp No part of either may be reproduced in any form without the prior written permission of Ormec MotionPRO and MotionBASIC are trademarks of Ormec Systems Corp WindowDOS is a trademark of WindowDOS Associates Windows is a trademark of Microsoft Corporation Multi Edit is a trademark of American Cybernetics Products provided by Ormec Systems Corp may contain or be derived from portions of the Programs and Documentation supplied by American Cybernetics Inc under license to Ormec Systems Corp Ormec Systems Corp has assumed responsibility for the selection of such Programs and Documentation and their use in producing and licensing MotionPRO American Cybernetics Inc disclaims all warranties with the respect to the use of such programs or documentation in the product s including without limitation any warranties of merchantability or fitness for a particular purpose WARRANTY Ormec extends no warranty with respect to the merchantability or fitness for any particular purpose for this softw
13. NTAL Position Transducer Resolution 6000 cnts rev Drive Type TORQUE Motor Torque Peak 4 22 in lbs Rated 1 41 in lbs Drive Input at Peak Torque 8 98 volts Maximum Motor Speed 4020 RPM Motor Inertia 0 000068 in lb sec Load Inertia 0 000142 in lb sec Torque Gain 0 470 in lb volt Total Machine Inertia 0 000210 in lb sec Maximum Motor Acceleration 3198 rev sec page 18 GN3 PRO f MotionPRO Generation Ill System Configuration User Units Position Speed Acceleration This window allows you to setup the Model 40 so that each axis can be programmed in user units This feature allows you to determine individual systems of units for each axis independent of the Position Transducer Resolution User units for position are set by equating two numbers On the left the number of user units on the right the number of counts This establishes a ratio to be used for position conversion In the example window below 360 user units are equated to 6000 counts which happens to be 1 rev As you might deduce this user is working in whole degrees 360 per rev This conversion ratio would have been maintained in the same way if on the left was entered 6 user units equated to 100 counts User units for speed is set slightly differently First on the right side enter the absolute maximum speed limit you wish to establish for that axis in RPM You will be able to set another range limit below this value but not higher
14. able mouse operation support C gt ORMEC O lt enter gt ORMEC Hypertext Help Version 1 2f Copyright c 1992 ORMEC Systems Corporation All Rights Reserved ORMEC Hypertext Help has been loaded Press Alt to invoke HELP C gt The special keys that can be used when in the Hypertext System are listed below F1 INDEX Displays the current manual s Index F2 MENU Display select available manuals from the hard disk F3 SEARCH Search for a string word topic phrase link etc F4 AGAIN Continue the last search for another occurrence F10 EXIT Special EXIT it leaves a bookmark for the next access lt Pg Up gt Move to preceding page in a chapter lt Pg Dn gt Move to next page in a chapter lt Backspace gt Go back to the previous chapter you accessed last lt Ctrl gt lt Backspace gt Go to the parent chapter of the current chapter lt Esc gt Normal EXIT returns you to your previous activity Arrow Keys Move the cursor between link topics lt Enter gt Go to cursor selected topic or perform cursor selected function page 32 GN3 PRO f MotionPRO Appendix 4 Appendix 4 WindowDOS Information A4 WindowDOS Information WindowDOS is provided on Ormec software disks with the file WD3 EXE This is the main executable file of WindowDOS Ormec also provides the original diskettes and documentation for WindowDOS For users who intend to further customize and reconfigure the setup of WindowDOS as supplie
15. anual concentrates on Ormec software products In the appendices this manual contains useful primary instructions on utility software that is provided as part of the MotionPRO Package to enhance the user environment page 2 GN3 PRO f MotionPRO Description Chapter 2 Description 2 Description GN3 PRO f MotionPRO an abbreviation for Motion Programming Environment is the means to program and communicate with ORMEC s Generation III family of controller products MotionPRO is a PC Compatible windowed software development environment It features user friendly menus for configuring your motion control system a powerful program editor to speed software development and both context sensitive on line help and a MotionBASIC Hypertext Manual for quick access to on line documentation MotionPRO does not refer to a single program It is the combination of software that makes up an elegant and easy to use communication and development environment MotionPRO runs on any IBM PC or true compatible The system requires a hard drive or the use of a RAM disk MotionPRO is designed to have an intuitive user interface It continually displays prompts that describe available options and their keystroke instructions MotionPRO presents a menu bar with pull down menus Each menu selection or functional utility is explained to the novice user by simply pressing the Help Key F1 which pops up a Help Chapter expla
16. are It is the customer s responsibility to determine whether it is suitable for the specific application and whether it meets performance reliability and safety requirements when used in that application TERMS AND CONDITIONS OF SALE All software sold or otherwise provided by Ormec is made available subject to Ormec s published Standard Terms And Conditions Of Sale MotionPRO Table of Contents TABLE OF CONTENTS 1 Welcome iii na ges eat ges A a i 1 2 Descrlpllol ico der ae alal e a lui t 3 3 Installation un RE RE eee ie 5 4 Invokind MolionPRO 5 ioe nee ere ney Cae Ree Sasi ee 9 5 Using MotionPRO 11 6 Testing the Servo System 15 7 Generation Ill System Configuration 17 8 Final System Configuration 23 A1 MotionPRO Information 25 A2 Customizing MotionPRO lesen 29 A3 Hypertext Help 5 oiecosiees erret ra RE ERR EE ie un 31 A4 WindowDOS Information 33 A5 Multi Edit Information 35 A6 Windows Information 37 MotionPRO Chapter 1 Welcome 1 Welcome GN3 PRO f Welcome This manual tells you about Ormec s MotionPRO Software a Communication and Development Environment for the Gene
17. d by Ormec they should refer to the manufacturer s documentation and reconfigurration utilities This appendix will list some basic information on WindowDOS for detailed instructions please refer to the original manual To run WindowDOS from MotionPRO select the WindowDOS menu entry from the application pull down menu is called in MP APP by WD3 X To run WindowDOS from DOS type WD3 option where option can be any number of the following single characters they must be separated by a space character or a forward slash Sort the directories in ascending order DEFAULT Set colors to Black amp White Sort by creation date Sort the directories in descending order Sort by extension Sort directories by filename DEFAULT Set for unusual EGA display cards Set for Hercules Display card Display directory names with leading Alternate Hotkey set for mute mode Do not sort Order as found on disk Turn on pop up password Turn on quick entry Turn on display root on call up Sort according to size Turn on screen timeout Uninstall WindowDOS Switch Function amp Shift Function Keys Run in execute only mode not memory resident Set for superior CGA cards NXSCHAMNDOVZEACLIOMMIOVSY GN3 PRO f page 33 MotionPRO Appendix 4 THIS PAGE INTENTIONALLY LEFT BLANK page 34 GN3 PRO f MotionPRO Appendix 5 Appendix 5 Multi Edit Information A5 Multi Edit Information GN3 PRO f Multi E
18. dit is provided on Ormec software disks Ormec also provides the original diskettes and documentation for Multi Edit For users who intend to further customize and reconfigure the setup of Multi Edit as supplied by Ormec they should refer to the manufacturer s documentation and setup utilities This appendix will list some basic information on Multi Edit for detailed instructions please refer to the original manual To run Multi Edit from MotionPRO select the Edit selection from the application pull down menu is called in MP APP by mec bat To run Multi Edit from DOS type ME filename The filename is optional Use it if you want to load the file on startup HELP The lt F1 gt key will bring up context sensitive on line help at any point within Multi Edit MAIN MENU The F2 key will access the main menu Most operations are selected from the menu FUNCTION The operations assigned to each of the function keys are KEYS are labeled at the bottom of the screen Notice that these selections change when you hold the Alt Shift or Ctrl Keys UNDO REDO Multi Edit supports full Undo of any editing operation that changes text or makes major changes to the cursor position QUITTING From a menu the lt ESC gt key will back you out of any menu MULTI EDIT While editing a file the F2 key will access the main menu where you can select the Quit option page 35 MotionPRO Appendix 5 THIS PAGE INTENTIONALLY LEFT B
19. e of two methods Each method involves executing a batch file This method of starting MotionPRO uses MPRO BAT MPRO BAT performs three functions 1 It changes the current directory to ORMEC BAS 2 It loads the Hypertext manual system into memory 3 It starts up MotionPRO To start MotionPRO type the following command MPRO enter This method of starting MotionPRO uses MP BAT MP BAT performs one function 1 It starts up MotionPRO To start MotionPRO type the following command MP options enter where the options are C use CGA EGA VGA display adapter c color display M use MDA display adapter m monochrome display L use LCD display adapter 1 monochrome display S reduce snow on CGA display s turn off S option B use ROM Bios for display b turn off B option O enable mouse support o turn off O option I login to MotionBASIC at startup i don t login at startup p don t scan for ports COM3 amp COM4 T set timeout value where t same as T represents the new timeout value in the range 1055 to 214700000 milliseconds if no value specified timeout 1055 display these switch options h same as When either method is used the monitor will display the startup screen for MotionPRO On this screen is the software version information This is also displayed in the Menu Bar of the program page 9 MotionPRO page 10 Invoking Mot
20. eating Windows Items Memory Limitations Communications Hints page 38 Appendix 6 To run MotionPRO from Windows with the new PIF and icon create a new item with ORMEC MP PIF as the command line property and ORMEC MP ICO as the icon To run Hypertext from Windows with the new PIF and icon create a new item with ORMEC MBHYP PIF as the command line property and ORMEC MBHYP ICO as the icon This version of MotionPRO has higher memory requirements than the previous versions In some cases while running MotionPRO under Windows there may not be enough memory left to execute WindowDOS If you have this problem we suggest using Windows File Manager instead of WindowDOS Windows allows MotionPRO to execute independently in several windows which allows the possibility of each MotionPRO window to use the same COM port This could result in communication problems To prevent this from occuring it is recommended that the 386 Enhanced option in the Windows Control Panel be set to Always Warn for each COM port After that Windows will warn you if several MotionPRO programs try to access the same communication port MotionPRO has been changed to better co exist in the Windows Environment This allows background processing for other tasks to occur but there is also a chance that while executing a number of other programs under Windows that you could experience communication problems This is so
21. for the user It changes the current directory to ORMEC BAS it then loads the Hypertext System into memory and then it starts MotionPRO Users that prefer a different starting directory should edit this file This file must be located in one of the directories specified by the DOS PATH environment variable or the current directory MP BAT File This file starts MotionPRO It is required in order that MotionPRO can be unloaded from memory during a call of a large application program from within MotionPRO see MP APP This file must be located in one of the directories specified by the DOS PATH environment variable or the current directory GN3 PRO f page 25 MotionPRO page 26 Appendix 1 Several options can be typed with this command These options are available to startup MotionPRO for your type of system configuration These options are as follows options C use CGA EGA VGA display adapter c color display M use MDA display adapter m monochrome display L use LCD display adapter 1 monochrome display S reduce snow on CGA display s turn off S option B use ROM Bios for display b turn off B option O enable mouse support o turn off O option I login to MotionBASIC at startup i don t login at startup p don t scan for ports COM3 amp COM4 T set timeout value where t same as T represents the new timeout value in the range 1055 to 214700000 mi
22. iew and clear axis faults should they occur This program is user friendly and menu driven The keystrokes necessary to perform the various operations are prompted on the screen page 15 MotionPRO SAVING CHANGES Step 1 Step 2 Step 3 Step 4 Step 5 Summary Discussion page 16 Testing the Servo System Any values that are changed during the SETUP BAS session are only temporarily changed since they are stored in VOLATILE DSP MEMORY To permanently save any changes that were made to the system s loop and I O configuration you must read the new values and then write these values to the Controllers Non Volatile Memory and or to a disk file To do this utilize the Gen Il Configuration Menu in MotionPRO To read these new values select Read Current Gen IIl Values from the Read Configuration Menu Observe The display will indicate that it is reading the parameters from the Gen III Unit for each axis in the system You may examine these values in the various windows if you wish Exit this utility by pressing the Esc Key You will be presented with the Write Configuration Menu This is where you can select the destination of this write function The recommendation is to write to the controller by selecting Configure Gen lll Observe The display will indicate that it is writing the parameters to the Gen III Unit for each axis in the system Optional Saving these values to a disk file Repeat Step
23. ining the topic in question The primary function of MotionPRO is to provide high speed serial communications between the user s PC and the Motion Controller page 3 Motion PRO Description MotionPRO provides other important functions which include File Management Load amp Save Programs Configuration Servo Definitions Loop Tuning Set Limits etc Access to Application Programs Call Screen Editors Perform DOS Functions etc Direct Commands and Program Control Start Stop Programs etc MotionPRO Setup Set Baud Rate Set COM Port etc MotionPRO Help On line Manual of MotionPRO Instruction Included with this MotionPRO Communications Program described above ORMEC has provided the following software as part of the MotionPRO Package WindowDos Multi Edit Hypertext Ormec Servo Analyst MotionBASIC Tools page 4 WindowDOS Multi Edit Hypertext On Line Manuals Ormec Servo Analyst Program MotionBASIC Tools The following summaries describe each of these software components A menu driven window presentation of disk files and DOS Functions WindowDOS is memory resident for fast execution of DOS commands from any program A comprehensive and effective multiple window editing environment A full feature screen editor that has an impressive array of pull down menus to make program writing and editing simple Features an on line help system providing an immediate re
24. ion of the MotionPRO Package a serial port on the computer must be connected to the development port of a Generation III series controller An important activity that can be performed without a GEN III connected is user familiarization with the MotionPRO Environment Learning the available options that can be performed and reviewing the on line help that is available would certainly be a recommended exercise This type of introduction to the environment can be accomplished without a Gen III controller connected to your PC Other activities that could be performed without a controller connected to your PC would constitute development work Programs and configuration files drafted would be saved on disk file When the controller was connected this saved work could then be installed tested and modified There is on line help available for instruction on MotionPRO The F1 function key calls MotionPRO Help which is a context sensitive Help System Context Sensitive means that depending on where you are on the screen when you call for help determines the help screen that is displayed Related topics can be investigated in the help system by using the cursor keys and the Enter key Another on line help resource in the MotionPRO Environment is the Hypertext Help System provided by ORMEC This Hypertext System is a TSR program Terminate and Stay Resident which means it is always available waiting for the hot key to be
25. ionPRO MotionPRO is now in Talk Mode and is ready to communicate with a connected Gen III Motion Controller By default it will automatically attempt to communicate with the Motion Controller by performing a Login This Login will halt any currently running program establish communications and determine the MotionBASIC version This Login process can be avoided with the i option when invoking MotionPRO Also this Login at Startup may be configured by selecting one of three options 1 Always Login 2 Never Login 3 Prompt the user as to whether or not a Login should be performed on this particular startup When a cable is securely connected between the development port and a computer comm port and MotionPRO has been invoked the handshake line will be linked and the Controllers System Status LED labeled OK to Transmit will be lit If this orange LED is not illuminated check your cable connections If you continue to have trouble communicating refer to the MotionBASIC Hypertext Manual s chapter on Troubleshooting GN3 PRO f MotionPRO Using MotionPRO Chapter 5 Using MotionPRO 5 Using MotionPRO Using MotionPRO Learning MotionPRO With On Line Help With Hypertext Help GN3 PRO f Having installed MotionPRO on your computer and invoked its operation there are several activities that can be performed without connecting to a Generation III controller However for comprehensive operat
26. lliseconds if no value specified timeout 1055 display these switch options h same as MP1 EXE File This is the main MotionPRO executable program It is invoked by the MP BAT file MP HLP File This is the database used by MotionPRO to obtain Help when the F1 key is pressed This file must be located in the directory specified by the DOS environment variable MPPATH If MPPATH is not defined MP HLP must be located in the same directory as MP1 EXE MP APP File This file contains the list of application programs which appear in the MotionPRO Application menu It can be customized by the user to include applications which are frequently used from within MotionPRO A description of the file format is included as a comment at the beginning of the file which can be edited with an ordinary text editor MotionPRO searches for this file in up to three directories as follows the current working directory 2 the directory and file name specified by the DOS environment variable MPAPP 3 the directory specified by the DOS environment variable MPPATH or the directory containing MP1 EXE MP CFG File This optional file allows the user to customize the initial configuration of MotionPRO This includes the initial COM port baud rate and setup options This file is created by the Save Setup command executed from the Setup Menu of MotionPRO MotionPRO searches for this file in up to three directories
27. mething that happens very rarely in normal execution but is possible when Windows becomes too busy to handle MotionPRO communications in a timely fashion If you experience a communication problem shut down any unnecessary programs or run MotionPRO from DOS GN3 PRO f
28. n specifying files to be accessed for downloading saving etc Execute Mode is engaged whenever MotionPRO causes the user to wait while it is downloading or saving files writing configuration routines etc With MotionPRO invoked and the computer connected to a Generation III controller the user can now communicate with the controller In its default configuration MotionPRO automatically does a LOGIN to the Generation Ill controller This can be done manually by pressing the lt F10 gt function key when in TALK MODE Login is an important step that is required so that MotionPRO can ascertain with what version of MotionBASIC it is communicating This effects specific aspects of the MP CONFIG routine that will be written see Chapter 7 If communications are not established the cursor will remain stationary and the following Error Message will print on the screen Cannot Send Character Check that the cable is correct and that the Gen III is turned on before continuing Check power connections or communication port assignments to correct this condition Note Some computers will not generate this error message due to their inability to return a status of the serial port After a powerup or a hardware reset of the controller establishing communications via the Login function key lt F10 gt or by pressing the Enter Key will cause the controller to print a sign on message A typical sign on mes
29. oduces concepts and familiarizes the user with Ormec Motion Controllers This file is on the programming language MotionBASIC This is the reference that is easily consulted while using MotionPRO to program the Gen III controllers A file that will document upgrades and changes to the language and the related manuals A file that will document the use of the OIT MotionBASIC Tools package and its use in developing an OIT application solution A file that will document the use of the MMI MotionBASIC Tools package and its use in developing an MMI Dlsplay application solution page 31 MotionPRO Starting Hypertext HYPERTEXT KEYS Appendix 3 The following command is entered to load the Hypertext System ORMEC hypfile options hypfile Path and name of the hypertext database file to use default extension HYP or directory in which the database files are located If not specified the file HYPERTEXT HYP in the executable directory is used options C use CGA EGA VGA adapter c color display M use MDA display adapter m monochrome display L use LCD display adapter monochrome display S reduce snow on CGA display B use ROM BIOS for display O enable mouse support X invoke from the command line display this usage message h same as Example Showing user entry and the system s response In this example the user is starting the Hypertext System with the option to en
30. onPRO and associated programs SETUP Menu Baud Rate Choose a communication baud rate used by the PC and by the Gen III CPU COM Port Selection of the COM port on the PC to be cabled to the controller File Line Specifies whether disk program files will contain line numbers When Numbers checked on program files must contain line numbers before loading to the Gen III When a program is saved each line and its corresponding line number from the Gen III buffer will be saved to a disk file When not checked off the line numbers are added during loads to the Gen III and stripped off when programs are saved to disk files from the Gen III Program buffer MotionBASIC This command selects the MotionBASIC Version with which to work Version Quiet Speaker When checked the PC speaker will not sound a tone when a MotionPRO Error occurs Login at This command determines the Login procedure at startup Startup Default Comm This selects the default baud rate and Com Port Save Setup This saves the current settings of the items above The settings are saved to a file and are used in subsequent startups of MotionPRO QUIT Menu Yes No Either terminate the current MotionPRO session or continue Quitting by selecting Yes returns the user to the operating system page 14 GN3 PRO f MotionPRO Testing the Servo System Chapter 6 Testing the Servo System 6 Testing the Servo System Factory Testing On Site Testing
31. onfiguration Utility Initial configuration for each axis was done at the factory using this Gen l Configuration Menu in MotionPRO In this chapter the five configuration windows will be described with an example of each Also at the end of the chapter we will list the MP CONFIG subroutine code that is generated from the example data MotionPRO will need to have executed a LOGIN in order to ascertain for what version of MotionBASIC it is writing an MP CONFIG routine This can be done manually by pressing the lt F10 gt function key in TALK Mode The version should be diplayed in the bottom display bar of the MotionPRO screen when a LOGIN is successful This is done with a default setup parameter when MotionPRO is invoked however this feature may be disabled by the user The five configuration forms are Motor Load Parameters Form User Units Form Range Variables Form Operating Parameters Form Servo Loop Tuning Parameters Form page 17 MotionPRO Generation Ill System Configuration General Instructions The configuration forms need to be filled out for each axis in the system Since many applications have nearly identical setups for multiple axes the ability to address more than one motor during a session has been provided Each configuration form allows the entry of axis numbers separated by commas e g 1 2 4 would be a set of three servos This entire set of axes can now be assigned common parameter values with
32. only It continues in the same style for subsequent axis in a multi axis system AUTO 65000 1 MP CONFIG IMTR 1 MAC E002A1 IMTR 2 MAC E002A1 IMTR 3 MAC E002A1 IMTR 4 unknown 1 41 4 22 8 98 0 000068 4020 8 04 1 VENT OFF MODE AXIS LIST 0 D E AXIS LIST 0 E 3000 UL 1 Time is in msec ss gt H AUK O D x H wn VAVGCMHNOOEWY EIO M ROFOIOIOIOIOIOIOIIIIIIIIIIIIIIIIIIIIIIII 5 E pl UO 0 PCT REV 6000 00 POS DIV 360 Axis Position is in degrees PPS DIV 360 Pacer Position is in degrees D LIM 4020 USR SPD LIM 4020 Speed is in RPM LIM 3193 USR ACL LIM 20061 Acceleration is in rad sec sec PD LIM 4000 INSPD MUL 1 0UTSPD MUL 1 PD MAX 3600 DRV MAX 29424 MAX 18000 DCL MAX 18000 DCL ERR 1000 ERR MAX 360 PERR INPOS 2 D TRUE POS MOD 0 SCURVE 0 TL FWD STL REV 0 LS1 LOW ELS1 HIGH 0 152 LOW ELS2 HIGH 0 E Oo o t QHH D D SEUPBUEKTI nj 53 LOW ELS3 HIGH 0 RO GAIN 470 VEL GAIN 0 INERTIA 0 000210 VLTC 2 20 KVI 100 KP 100 0 KPI 0 KAF 0 KVF 100 H p pd Ed C0 O U IP TUR RV o t H I IN bo SD DS Remaining axes would continue as above D MOD MD MOD MD MOD MD MOD A R H Den Ld pL pd D DH Hee NOOOR ei I te ll XIS S
33. ormation on the setup of MotionPRO includes some options that the user may wish to change If the user wishes to retain these configuration changes for subsequent startups of MotionPRO this can be done quite easily The Setup Menu of MotionPRO provides the means to change configuration options and to save this new configuration The items that can be changed from the setup menu are covered in the Chapter Using MotionPRO Another routine customization that a user may want to perform is the alteration of the MP APP file for MotionPRO This file effects the Application Menu in MotionPRO It determines which applications are available the text presentation in that menu and by what commands the different applications are called when they are selected Other considerations have to do with system memory One of the options that can be used in the MP APP file forces MotionPRO to exit from memory while the selected application is being run As provided from ORMEC the Application Menu allows the user to call the Multi Edit screen editor and to run the Ormec Servo Analyst program to startup and use Window DOS to print and view configuration files GN3 PRO f page 29 MotionPRO Appendix 2 The following text is also provided as comments within the MP APP file This allows the user to edit the file while also having the instructions in that very same file Syntax of MP APP file entries menu item gt hot key gt gt
34. r each of the axes in your system When the system is configured for your application you should proceed to develop your application MotionPRO includes a number of application software development tools called MotionBASIC Tools These programs and documentation are designed to make applications program development much easier by providing working program modules for accomplishing functions common to most motion control applications such as an Error Handler and an YO Menu The training class provides instruction in the use of these tools We trust that they will prove useful in helping you get started with Generation III GN3 PRO f MotionPRO Appendix 1 Appendix 1 MotionPRO Information A1 MotionPRO Information This appendix section contains information on the files and environment variables used with MotionPRO It is intended for experienced DOS users The following files are needed by MotionPRO MPRO BAT Startup Command for MotionPRO MP BAT Used to execute MotionPRO with large applications MP1 EXE MotionPRO executable program MP HLP Help database used by MotionPRO when F1 is pressed MP APP List of applications programs used with MotionPRO MP CFG Optional MotionPRO custom configuration file MP MTR ORMEC motors parameter file These files are described below in greater detail so that the experienced user may fully understand their use MPRO BAT File This file performs three useful functions
35. ration III family of controllers The manual describes MotionPRO and the software that forms it how the software is installed on your development system and how to use the software and how to customize it to your own standards and style of operation The manual is divided into the following chapters Chapter 1 Chapter 2 Chapter 3 Chapter 4 Chapter 5 Chapter 6 Chapter 7 Chapter 8 Appendices Welcome introduces you to this manual and how it is organized Description covers the functionality of MotionPRO and the accompanying software Installation explains how to transfer the software from floppy onto your development system and how to connect your computer to a Generation III controller Invoking MotionPRO provides instructions on how to run the software Using MotionPRO provides fundamental instructions regarding the MotionPRO Environment and describes the functions of the utilities available Testing the Servo System explains how to run the test program initially supplied with each Generation III controller Generation Ill System Configuration provides instructions on configuration activities Final System Configuration provides instructions regarding the accommodation of real world parameters in a working Generation Ill control system Appendices contain fundamental information on the software packages provided with the MotionPRO diskettes page 1 MotionPRO Welcome NOTE This m
36. rocedure Along with the modification the pre existing AUTOEXEC BAT is saved as a backup file The oldest backed up filename will be AUTOEXEC 01 and on subsequent modifications the extension of a the current backup file will be the last backup extension plus 1 If the Example file construction is selected by the user the example will have the filename AUTOEXEC EXM Hardware Installation page 6 To connect your computer s RS 232 Communication Port to a Generation III controller you will need to remove the cover from the front of the controller It is held on by thumb screws The RS 232 Development Port J2 is located near the red amp black push buttons GN3 PRO f MotionPRO GN3 PRO f Installation This development port on the Generation III controller J2 is an asynchronous RS 232 Serial device interfaced through a 6 pin modular connector ORMEC provides coil cord style cables for connection to the serial port which are compatible with IBM AT style 9 pin connectors and with IBM PC style 25 pin connectors To set up the port press F2 to put MotionPRO in Select Mode then press S for the SETUP MENU Use the arrow keys to pick the desired COM port page 7 MotionPRO Installation THIS PAGE INTENTIONALLY LEFT BLANK page 8 GN3 PRO f MotionPRO Invoking MotionPRO Chapter 4 Invoking MotionPRO 4 Invoking MotionPRO Method 1 Method 2 GN3 PRO f The MotionPRO environment is entered by using on
37. s communicated over the MotionPRO serial port to the user screen are also saved to a disk file This provides the ability to generate a permanent record or log of MotionBASIC MotionPRO communications during a session This allows the user to configure the GEN III controller for the servos in the application Instructions for this activity are in the Chapter Generation Ill System Configuration in this manual This command displays and allows change to the current protection level of the program buffer Saves the current state of the Gen III unit to disk file and then reloads all nonvolatile memory with default values page 13 MotionPRO Using MotionPRO APPLICATION Menu This is a special menu since it can be customized by the user The menu items that are provided by Ormec as default are described below Editor Calls the screen editor Multi Edit used to edit programs and files OSA Ormec Servo Analyst provides the user with an application analysis tool for servo motor and servo drive sizing WindowDOS A file management utility used for file transfer and other useful DOS functions List File Utilities used to examine and document any file in the File Print development system View Config Utilities used to examine and document the configuration of the Print Config servo system Diskcopy AB Copy disk contents of A Drive to B Drive Shell to DOS A transfer to the Operating System without losing the current state of Moti
38. s 1 2 amp 3 Repeat Step 4 except select the Save to File write destination Recommended File name to write is CONFIG BAS The above process reads the current configuration values and then causes MotionPRO to write a new MP CONFIG subroutine into the Setup Area of the Non Volatile memory of the controller Optionally this MP CONFIG subroutine should also be saved to a disk file for permanent storage The disk file containing this subroutine can have any name as determined by the user ORMEC recommends that it be named CONFIG BAS GN3 PRO f MotionPRO Generation Ill System Configuration Chapter 7 Generation Ill System Configuration 7 Generation Ill System Configuration IMPORTANT GN3 PRO f System Configuration is actually a process in which MotionBASIC code is executed setting volatile memory variables to meaningful values This MotionBASIC code that sets ORMEC Variables to particular values determines the definition of a servo system for an application In an ORMEC standard approach this set of code consisting of Variable assignments for each axis is contained in a subroutine called MP CONFIG Since MP CONFIG is quite a lengthy set of code and tedious for a user to write from scratch ORMEC supplies a GEN III Configuration Utility that automatically writes the code after a user has filled in the blanks of five configuration forms These forms are pop up windows that are selected under the GEN III C
39. sage contains the following information Example MotionBASIC v2 1f Copyright c 1987 1993 ORMEC Systems Corp GN3 PRO f MotionPRO MENU BAR Using MotionPRO 60300 Bytes Free amp 26624 Comment Bytes Free 80187 Axis List 1 2 OK Using the lt F2 gt function key to call up the Menu Bar and Select Mode presents the user with the menu bar and the pull down menus There are several utilities and options contained under each selection of the menu bar The following discussion describes each of these selections FILE Menu Load Program Save Program Merge Program Download File Upload File Erase File Format Memory Disk Capture GEN III Menu GN3 PRO f Configuration Program Write Enable Initialize All Memory This loads a program from a PC disk file to the Gen III CPU Program buffer This command saves a MotionBASIC program from the Gen III CPU Program buffer to a disk file on the PC This command merges a MotionBASIC program from a PC disk file to the GEN III CPU Program buffer This command transfers a MotionBASIC file from a PC disk file to a Gen III Memory Disk This command transfers a MotionBASIC file from a Gen Ill Memory disk to a PC disk file This command deletes a MotionBASIC file from a Gen Ill Memory disk or from a PC disk file This command formats a Memory Disk This is necessary on a new Memory Card This option allows the user to open a file in which character
40. se travel limits can be set from this form as well as the low and high trip points for three position triggered outputs per axis Also the deceleration rate used when a MotionBASIC error causes a motor to stop is also set in this configuration form An example of this window follows entry fields are bolded Operating Parameters Form Axis 1 of 1 2 Forward Rotation Direction COUNTER CLOCKWISE Software Travel Limits degrees Position Modulo 0 Forward Reverse MotionDATA Output Source PASS THRU Pacer Input ON Electronic Limit Switch Ranges S Curve Distribution 0 degrees Low High Loop Rate all axes 3000 Hz ELS1 0 0 ELS2 0 0 Error Deceleration Rate 1000 ELS3 0 0 page 20 GN3 PRO f MotionPRO Tuning Generation Ill System Configuration Parameters This window allows you to set the servo gains These parameters include both Torque Gain and Inertia for the servodrive and motor which are initialized in the Motor Load Parameters window lt also allows setting the Velocity Loop Time Constant as well as Kvi Kp Kpi Kaf and Kvf An example of this window follows entry fields are bolded Axis 1 of 1 2 Drive Type Torque Gain Load Inertia at Total Machine In Velocity Loop Ti Kvi Velocity In Kp Position Ga Kpi Position In Kaf Acceleratio Kvf Velocity Fe Servo Loop Tuning Parameters Form Torque 0 470 in lb volt
41. sponse reference manual A set of ORMEC Manuals that are accessible from within any program The hypertext system is memory resident and quickly accesses manual pages from hard disk A text sensitive feature allows the user to position the cursor on a command statement or Topic word hit the Hot Key to call the manual and the appropriate page in the manual is displayed on the screen The OSA program was created to save system designers time and effort in analyzing high performance servo applications OSA provides a methodical approach to analyzing system dynamics which may avoid costly errors in servomotor amp drive selection OSA accomplishes this by leading the designer through a questionnaire This approach develops a consistent and careful consideration of the dynamics of high performance motion applications MotionBASIC Tools are software application modules that are useful building blocks that can be incorporated into user programs The modules support Operator Displays for both the MMI 840 Compact Industrial Terminal and the OIT Operator Interface Terminal devices MotionBASIC Tools are intended to save time and labor in completing an operator interface application GN3 PRO f MotionPRO Installation Chapter 3 Installation 3 Installation GN3 PRO f Directory Structure Added amp Loaded by the ORMEC INSTALL EXE Multi Edit Files Sub Directory ORMEC BAS Sub Directory
42. ter name of configuration file to view gt p w Print MP CONFIG P printcfg lt f Enter name of configuration file to print gt Ipt1 m6 w Diskcopy A gt B D diskcopy a b Customization is achieved with a text editor and by adding deleting or altering entries in this file The changes can be easily tested by starting MotionPRO and selecting the edited entries via the Application Menu page 30 GN3 PRO f MotionPRO Appendix 3 Hypertext Help Information A3 Hypertext Help GN3 PRO f Appendix 3 Hypertext is an information system which attempts to more closely parallel the human mind s thought process than does traditional information sources such as bound manuals or flat text files Hypertext produces this effect through a network of nodes each of which contain data on a topic but is linked to and can be accessed via other related items within the network Two file types are included with the Ormec Hypertext System The executable file which loads the system and reference files which constitute the manuals for MotionBASIC Hypertext Help and Revision Information The specific files are ORMEC EXE HYPERTXT HYP MB HYP MBREVS HYP MBTOOLS HYP MMITOOLS HYP This file loads the hypertext system into memory making it available to be called from other programs Pressing Alt will call up a memory resident Hypertext System This file is on the Ormec Hypertext Manual System itself It also intr
43. ual by WindowDOS Associates Multi Edit User s Guide and Tutorial by American Cybernetics Please consult these manuals for detailed information should the need arise Your system will need to have approximately 3 0 Mbytes of disk space available on the destination drive This applies for all destination types including a conventional hard disk laptop Hard RAM or a RAM Disk Software Installation See Appendix 6 for Windows installation instructions NOTE To start the install procedure insert the Install Disk in a drive and type f enter INSTALL enter where f the drive letter where the disk is inserted Example C gt A A gt INSTALL In this example the user s current drive is C Drive as is evident by the prompt The current drive is changed to the A Drive The install command is then run from the A disk drive After starting the install procedure follow the prompted instructions to complete the install procedure In addition to file transfers the installation procedure optionally will 1 Modify your system s AUTOEXEC BAT and CONFIG SYS files 2 Bypass modifications 3 Construct an Example File The AUTOEXEC modification is simply the addition of the new ORMEC directory and the new ME directory to your existing DOS Path The settings for BUFFERS and FILES in the CONFIG SYS file are increased if necessary If the modification is selected by the user it is done at the end of the installation p
44. uning Menu setting the Axis Mode to Velocity and setting VLTC between 8 and 30 ms Execute Indexes that do not cause the system to torque limit Observe the velocity errors reported at the bottom of the screen and adjust INERTIA until the first few errors immediately following the index average close to 0 page 23 MotionPRO page 24 Final System Configuration b Set the Axis Mode to Position and adjust VLTC to the lowest acceptable value Cause indexes to occur and observe both the position error and the audible noise If you have a scope observe both the torque and velocity responses The velocity response should have minimal overshoot but the torque response may overshoot considerably The torque response should not however ring excessively C Adjust the position loop integral gain KPI to 100 in applications where position error during motion is critical such as electronic gearing or in the control of continuous web systems d The other gains in the system should be adjusted only to meet critical and unusual performance criteria by a qualified servo technician or engineer ORMEC provides a training class which covers these procedures and the theory behind them in detail Also you will want to use the Gen Ill Configuration Menu described in the last section to configure your Model 40 for your particular application Simply pull down that Menu and fill out the pop up windows with the appropriate information fo
45. variable allows the user to define a custom MP APP file for a specific environment It contains the full path AND file name of the custom applications file Example SET MPAPP C ORMEC MP APP MPCFG Environment Variable This optional environment variable allows the user to define a custom MP CFG file for a specific environment It contains the full path AND file name of the custom configuration file Example SET MPCFG C ORMEC MP CFG MPTMP TEMP and TMP Environment Variables These optional environment variables allows the user to specify where temporary files are to be stored MotionPRO creates a temporary file called MP when it unloads itself during execution of an application program This file is normally stored in the current working directory If it is not desirable for MotionPRO to create a temporary file in the current working directory the environment variable MPTMP TEMP or TMP may be defined to contain the path of the directory where this temporary file is to be stored MPTMP takes precedence over TEMP which takes precedence over TMP Example 1 SET MPTMP E current directory of drive E Example 2 SET TEMP D root directory of drive D Example 3 SET TMPZFATEMP TEMP directory of drive F page 27 MotionPRO Appendix 1 THIS PAGE INTENTIONALLY LEFT BLANK page 28 GN3 PRO f MotionPRO Appendix 2 Appendix 2 Customizing MotionPRO A2 Customizing MotionPRO This appendix section contains inf
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