Rockwell-automation GMLC Reference Manual Bedienungsanleitung Seite 8
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Publication GMLC-5.2 - November 1999
Table of Contents v
Drive Fault ............................................................93
Motor Thermal ......................................................93
Transducer Noise ..................................................93
Transducer Loss ....................................................93
Verifying Hookups ...........................................................93
Test Increment ......................................................95
Motor/Encoder Test ..............................................95
Performing the Motor/Encoder Test .....................95
Transducer Polarity............................................... 96
Control Output Polarity ........................................96
Marker Test ...........................................................96
How to perform the Marker test ...........................96
Align Absolute Device ..........................................97
How to Align an Absolute Device ........................97
Drive Offset ..........................................................98
The Drive Offset Test ...........................................98
Pulse Magnitude ...................................................99
Pulse Duration .......................................................99
Pulse Type .............................................................99
Battery Box Test .................................................100
How to perform the Battery Box test ..................100
Tune Servo ......................................................................101
Tuning Your 1394 .....................................................101
Tuning Your Compact ..............................................104
Tuning Your Integrated/Basic ..................................106
Defining Gains ................................................................107
Proportional Gain ................................................108
Integral Gain .......................................................109
Velocity Feedforward Gain ................................109
Velocity Gain ......................................................109
Velocity P Gain ...................................................109
Velocity Filter Bandwidth ..................................109
Deadband Compensation ....................................110
Drive Offset ........................................................110
Adjusting Gains Values for the Servo Axis ....................111
Equalizing the Working and Set-up Gains Values ...111
- GML Commander 1
- Important User Information 2
- European Communities (EC) 3
- Directive Compliance 3
- Preface 4
- Table of Contents iii 6
- Table of Contents v 8
- Table of Contents vii 10
- Chapter 10 – Motion Blocks 12
- ..............246 14
- ...........247 14
- Table of Contents xiii 16
- Chapter 14 – Status Blocks 18
- Chapter 15 – AxisLink Blocks 18
- Chapter 16 – RIO Blocks 18
- Chapter 17 – CNET Blocks 19
- Chapter 18 – DH-485 Blocks 19
- Chapter 19 – SLC Blocks 20
- Table of Contents xix 22
- Table of Contents xxi 24
- Chapter 28 – Fault Variables 25
- Table of Contents xxiii 26
- Chapter 29 – Status Variables 27
- Table of Contents xxv 28
- Table of Contents xxvii 30
- Table of Contents xxix 32
- Chapter 40 – Going Online 34
- Chapter 41 – CPU Utilization 35
- Appendix C – ASCII Reference 36
- Prerequisite Knowledge 38
- Who Should Use this Manual 39
- Purpose of this Manual 39
- Where to Find Help 39
- Using the Manual Set 40
- Using Online Help 40
- Related Documentation 41
- Glossary 42
- Contents of this Manual 43
- Rockwell Automation Support 47
- 12 Preface 49
- GML Commander Overview 50
- How it Works 51
- Understanding Your Workspace 51
- 16 GML Commander Overview 53
- 18 GML Commander Overview 55
- Understanding the Tag Window 56
- Script Editor Window 57
- Understanding Your Tools 58
- Main Toolbar 59
- Diagrams and Blocks 60
- Block Palettes 60
- Color Code for Blocks 60
- Testing Your Diagram 61
- Naming a Block 62
- Naming a Module 62
- Printing 63
- Printing a Diagram 64
- Diagram Scaling 64
- 28 GML Commander Overview 65
- Configuring Control Options 66
- Setting Control Options 68
- Setting the Axes 72
- Setting the Flex I/O 76
- Defining Flex I/O 77
- Setting the Flex I/O 41 78
- Configuring the RIO 84
- Configuring Axis Use 96
- 60 Configuring Axis Use 97
- Physical Axis 99
- Axis Type 100
- Position Mode 100
- Drive Interface Module Axis 100
- Defining Units 101
- Defining Feedback 102
- Transducer Resolution 103
- Unwind Constant 104
- Unwind Fraction 105
- Unwind Reference Point 105
- Encoder Filter 106
- Defining Position 107
- Velocity Profile 108
- Jerk Accel 109
- Velocity 109
- Defining Position 73 110
- Parabolic 111
- Lock Tolerance 112
- Backlash 112
- Defining Homing 113
- Position 114
- Procedure 114
- Active Homing 115
- Homing to a Limit Switch 115
- Homing to an Encoder Marker 116
- Direction 116
- Absolute Homing 117
- Passive Homing 118
- Defining Overtravel 119
- Hard Travel Limits 120
- Limit Switches 120
- Soft Travel Limits 120
- Maximum Positive 120
- Defining Servo 121
- Velocity Axis 122
- Drive Fault Input 122
- Defining Motor/Drive 123
- Motor ID 124
- 88 Configuring Axis Use 125
- Velocity Limit (RPM) 126
- Torque Limit(% Rated) 126
- Defining Fault Action 127
- Disable Drive: 128
- Stop Motion: 128
- Status Only: 128
- Hard Overtravel 129
- Soft Overtravel 129
- Position Error 129
- Verifying Hookups 130
- 94 Configuring Axis Use 131
- Test Increment 132
- Motor/Encoder Test 132
- Transducer Polarity 133
- Control Output Polarity 133
- Marker Test 133
- Align Absolute Device 134
- Drive Offset 135
- The Drive Offset Test 135
- Pulse Magnitude 136
- Pulse Duration 136
- Pulse Type 136
- Battery Box Test 137
- Tune Servo 138
- 102 Configuring Axis Use 139
- Tune Servo 103 140
- Tuning Your Compact 141
- Tune Servo 105 142
- Tuning Your Integrated/Basic 143
- Defining Gains 144
- Proportional Gain 145
- Integral Gain 146
- Velocity Feedforward Gain 146
- Velocity Gain 146
- Velocity P Gain 146
- Velocity Filter Bandwidth 146
- Deadband Compensation 147
- Adjusting Gains 148
- 112 Configuring Axis Use 149
- Running your Program 151
- Defining Dynamics 152
- Maximum Speed 153
- Maximum Acceleration 153
- Maximum Deceleration 153
- Error Tolerance 153
- Adjusting Dynamics 154
- 118 Configuring Axis Use 155
- 120 Configuring Axis Use 157
- Controller Icon 158
- Upload button 158
- Download button 158
- 122 Configuring Axis Use 159
- Using the Imaginary Axis 160
- 124 Using the Imaginary Axis 161
- 126 Using the Imaginary Axis 163
- Imaginary Axis Applications 164
- 128 Using the Imaginary Axis 165
- 130 Using the Imaginary Axis 167
- 132 Using the Imaginary Axis 169
- 134 Using the Imaginary Axis 171
- Working with Blocks 172
- The Function Block Palettes 173
- Manipulating Blocks 174
- Connecting B 175
- Moving Blocks 176
- Showing the Connection Lines 176
- Disconnecting Blocks 176
- 140 Working with Blocks 177
- Selecting All 178
- Copying a Block 178
- Swapping Blocks 179
- Aligning Blocks 180
- Spacing Blocks 181
- Snapping to the Grid 182
- Accessing Block Information 182
- Accessing from the Edit menu 183
- • Calculation blocks 184
- • Miscellaneous blocks 184
- 148 Working with Blocks 185
- Working with Diagrams 186
- 150 Working with Diagrams 187
- Creating a Diagram 151 188
- 152 Working with Diagrams 189
- Documenting Your Diagram 191
- Diagram Title Page 191
- Testing Diagrams 192
- 156 Working with Diagrams 193
- Accessing the Online Manager 194
- Inserting a Breakpoint 195
- Working With Modules 196
- Using the Diagram Explorer 197
- Creating a Module 161 198
- Encapsulating Blocks 199
- Recursive Duplicate Modules 200
- Unencapsulating the Module 201
- Collapsing Modules 203
- Splitting the Diagram Window 205
- Displaying Module Information 207
- Documenting a Module 207
- Documenting a Module 171 208
- 172 Working With Modules 209
- Working with Program Scripts 210
- Editing a Script 212
- Control Setting Blocks 214
- Feedback 215
- Motion Settings 216
- Unit Settings 217
- Using the Servo Output Limit 217
- Setting the Motion Profile 218
- Setting the Maximum Speed 218
- Change Gain 219
- Direct Drive Control 220
- Reset Fault 221
- Reset Fault 185 222
- Redefine Position 223
- Relative Mode 224
- Actual Position 224
- Command Position 225
- Control Settings 226
- Working Values 227
- Tag Explorer 228
- Tag Window 228
- Data Parameters 228
- Data Bits 228
- 192 Control Setting Blocks 229
- Motion Blocks 230
- Home Axis 232
- Configured Homing 233
- Wait for Completion 234
- Synchronized Homing 234
- Move Axis 235
- Move Axis 199 236
- Absolute Moves 237
- Incremental Moves 238
- Phase Shift Moves 239
- Move Axis 203 240
- Rotary Shortest Path Moves 241
- Move Axis 205 242
- Rotary Positive Moves 243
- Rotary Negative Moves 243
- Override Profile 244
- Merged Moves 244
- Synchronizing Moves 245
- Jog Axis 246
- Merged Jogs 247
- Gear Axes 248
- Virtual Master Axes Gearing 249
- Imaginary Axis Gearing 249
- Slaving to Actual Position 249
- Slaving to Command Position 250
- Same Direction Gearing 251
- Opposite Direction Gearing 251
- Set Ratio 252
- Ramping to Master Speed 253
- Gear Axes 217 254
- Using the Gear Axes Block 255
- Moving While Gearing 256
- Interpolate Axes 257
- Interpolators 258
- Linear Interpolation 259
- Interpolate Axes 223 260
- Timed Linear Interpolation 261
- Interpolate Axes 225 262
- 226 Motion Blocks 263
- Interpolate Axes 227 264
- Bad Arcs 265
- 230 Motion Blocks 267
- Interpolate Axes 231 268
- 232 Motion Blocks 269
- Full Circles 270
- 234 Motion Blocks 271
- Helical Interpolation 272
- 236 Motion Blocks 273
- Interpolate Axes 237 274
- 238 Motion Blocks 275
- Merging Interpolated Motion 276
- 240 Motion Blocks 277
- Change Dynamics 280
- Analog Offset 281
- Analog Input Scalar = 282
- mode, the motor transducer 283
- Configure Cam 284
- Cam Start and End Points 285
- Configuring Time Lock Cams 286
- 250 Motion Blocks 287
- Configure Cam 251 288
- 252 Motion Blocks 289
- Configure Cam 253 290
- 254 Motion Blocks 291
- Absolute Auto-Correction 292
- 256 Motion Blocks 293
- Absolute (Target) Position 294
- Tolerance 294
- 258 Motion Blocks 295
- Relative Auto-Correction 296
- 260 Motion Blocks 297
- Nominal Length 298
- Last Registration 299
- 264 Motion Blocks 301
- Master Axis 303
- Registering Axis 303
- Auto-Correction Speed 304
- 268 Motion Blocks 305
- No-Correction Zone 306
- Time Lock CAM 307
- Positive Direction 308
- Negative Direction 308
- Merge from Jog 309
- Scaling Time Lock Cams 310
- Position Lock CAM 311
- Virtual Master Axes 313
- Position Lock CAM 277 314
- Master Reference Position 315
- Position Lock CAM 279 316
- 280 Motion Blocks 317
- Scaling Position-Lock Cams 318
- 282 Motion Blocks 319
- Moving While Camming 320
- Disable Position Lock CAM 321
- Disable Gearing 322
- Stop Motion 322
- Kill Control 323
- Stopping All Motion 324
- 288 Motion Blocks 325
- I/O and Event Blocks 326
- Output CAM 328
- 292 I/O and Event Blocks 329
- Camming to the Imaginary Axis 330
- Camming to Actual Position 330
- Camming to Command Position 330
- Defining the Window 331
- Actuation Delay 332
- 296 I/O and Event Blocks 333
- Require OFF to ON Transition 335
- Require ON to OFF Transition 335
- Input Class 336
- If Axis and Multitasking 337
- Program Pauses 339
- Until This Point 339
- AxisLinked 341
- Decelerated 341
- Decelerating 342
- Feedback On 343
- Gearing Off 343
- Gearing On 344
- Gearing Opposite 344
- Homing / Homing Done 344
- Jogging/Jogging Done 345
- Merge Pending / Merging Done 347
- Moving / Moving Done 347
- Output Limited 348
- Watch Control 349
- Watch Control 313 350
- Wait for Tripped 351
- Windowed Registration 352
- Auto Rearm Input 354
- Registration on Virtual Axes 354
- Disarm Registration 355
- Watch Control 319 356
- Event Action Computations 357
- Watch Control 321 358
- On Watch 359
- If Position Event 360
- Wait for Registration 360
- Set Timer 361
- On Timeout 362
- If Axis Fault 363
- Repeat Loop 365
- Program Control Blocks 366
- Restart Type 367
- When Restart Type 367
- Restart Program 331 368
- End Program 369
- When End or Fault Type 370
- Runtime Faults 371
- Global Faults 372
- 336 Program Control Blocks 373
- End Program 337 374
- 338 Program Control Blocks 375
- End Program 339 376
- 340 Program Control Blocks 377
- Multitasking Blocks 378
- Multitasking Operation 379
- Task Control 379
- Start New Task 380
- 344 Multitasking Blocks 381
- Stop Current Task 382
- Stop Other Task 383
- Resume Task 383
- Stop Dispatcher 383
- Restart Dispatcher 384
- Wait for Task 385
- Status Blocks 386
- Show Axis Position 387
- Show Axis Status 387
- (I) axes 388
- Show Input Status 389
- Configured 390
- Miscellaneous 390
- Show Program Status 391
- Specific Task Status 392
- Runtime Fault Status 392
- Show Firmware ID 392
- Show Memory Status 393
- Setup Data 394
- Application Program 394
- Program Size 394
- 358 Status Blocks 395
- AxisLink Blocks 396
- Virtual Axis Control 397
- Read Remote Value 398
- Reset AxisLink Fault 399
- Reset AxisLink Fault 363 400
- 364 AxisLink Blocks 401
- RIO Blocks 402
- Show RIO Status 403
- Wait for RIO Status 404
- If RIO Status 404
- RIO Status Conditions 405
- Wait for RIO Block Transfer 406
- If RIO Block Transfer 407
- Auto RIO Update 408
- Auto Binary Numeric Format 409
- Auto RIO Update 373 410
- PLC I:046/00 (RIO output 68) 411
- Fixed Binary Numeric Format 413
- Auto BCD Numeric Format 414
- Reset RIO 418
- 382 RIO Blocks 419
- CNET Blocks 420
- Wait for CNET Status Type 421
- Show CNET Status 422
- Reset CNET 423
- DH-485 Blocks 424
- Show DH-485 Status 425
- DH-485 Value 426
- Send Type 427
- Using Bit Masks 428
- Multiple Variables 429
- Wait for Message Complete 430
- DH-485 Message Details 430
- On DH-485 Status 431
- If DH-485 432
- Wait for DH-485 432
- Reset DH-485 Fault 433
- SLC Blocks 434
- On SLC Status 435
- Interrupt SLC 436
- 400 SLC Blocks 437
- Calculation Blocks 438
- Equation 439
- Master CAM Time type 440
- Indirect Variable 441
- Inhibiting Resampling 441
- On Expression 442
- Build Table 442
- field in both blocks 443
- Building CAM Time Profiles 444
- Building Variable Arrays 444
- Starting Offset 444
- 408 Calculation Blocks 445
- Print to Display 447
- Force to Port 448
- Suppress Auto CR/LF 448
- Selecting the Display 448
- ASCII Text 449
- ASCII Code 449
- Expression 450
- Formatted Expression 450
- Edit Value 451
- Value Display Format 452
- Toggle Choice 453
- Entering Choices 455
- Editing the Choices 455
- Abort Editing 456
- Refresh Display 456
- Key Input Control 457
- On Key Press 458
- Wait for Key 459
- Checking for Any Key 460
- Waiting for Any Key 460
- Checking for a Specific Key 460
- Waiting for a Specific Key 461
- Checking for ASCII Code 461
- Waiting for ASCII Code 461
- Configure Auto Display 462
- Field Legends 463
- Miscellaneous Blocks 468
- Native Code 469
- New Module 469
- Call Module 470
- Remote Control 471
- Multidrop 472
- Remote Controller Address 473
- Expression to Query 473
- Response Format 473
- Specifying the Serial Port 474
- Destination Page 474
- 438 Miscellaneous Blocks 475
- Creating Flex I/O Values 485
- User Variables and Constants 494
- The Expression Builder 496
- The Numeric Keypad 497
- Precedence 498
- Expression Operators 499
- Mathematical Operators 500
- Subtraction 501
- Multiplication * 501
- Division / 501
- // Integer Quotient 502
- Logical Operators 503
- Bitwise NOT ~ 504
- Bitwise AND & 504
- Bitwise OR 505
- && 506
- Relational Operators 507
- Equal to = 508
- Not Equal to ! 508
- Greater Than > 509
- Less Than < 509
- System Variables 510
- 474 The Expression Builder 511
- Motion Variables 512
- Strobed Position 515
- Registration Position 516
- 480 Motion Variables 517
- Marker Distance 519
- Distance To Go 520
- Deceleration Distance 520
- Encoder Filter Lag 521
- Watch Position 521
- Average Velocity 522
- Command Velocity 523
- Servo Output Level 523
- Analog Offset Setpoint 523
- Analog Offset Error 524
- PCAM Registration Error 525
- PCAM Good Registration Count 528
- 492 Motion Variables 529
- Bad Registration Count 530
- Axis Iq Reference 1394 531
- Axis It Limit 1394 532
- Axis Velocity Command 1394 532
- Axis Torque Command 1394 532
- 496 Motion Variables 533
- Controller Variables 534
- Analog Inputs 535
- Free Running Clock 535
- Last Keypress (Character) 536
- Current Task 536
- CPU Utilization 537
- CPU Utilization Peak 537
- Controller Address 537
- AxisLink Configuration Nodes 539
- Fault Variables 540
- Global Fault 542
- CNET Fault 543
- CPU Utilization Overrun Fault 544
- Feedback Device Fault 544
- Flex Fault 545
- SLC Fault 545
- DH-485 General Fault 546
- RIO Fault 546
- AxisLink Timeout Fault 547
- AxisLink General Fault 547
- Setup Data Memory Fault 547
- Axis Global Faults 548
- Axis Fault 549
- AxisLink Timeout 549
- AxisLink Failed 550
- 514 Fault Variables 551
- Position Error Fault 552
- Hardware Overtravel Fault 554
- 518 Fault Variables 555
- Software Overtravel Fault 556
- Encoder Noise Fault 558
- Encoder Loss Fault 559
- Flex Fault 561
- Flex Fault Code 561
- AxisLink Fault Code 562
- Timeout Accessing Data 565
- Runtime Fault 566
- Stack Fault 568
- Fault Ring Error 1394 570
- Commission Error 1394 571
- DSP Error 1394 572
- Flex I/O Missing or Failed 573
- 538 Fault Variables 575
- No Tasks Running 576
- Illegal Direct Command 577
- 542 Fault Variables 579
- RIO Fault Code 580
- Initialization Failure 581
- Setup Failure 581
- Failed Getting Inputs 582
- Failed Sending Outputs 582
- Scanner Failure 582
- CNET Fault Code 583
- Plug Fault 584
- Media Fault 585
- DH-485 Fault Code 587
- Command Failed 588
- DSP Feedback Fault 1394 589
- SLC Fault Code 590
- Resolver Loss Fault 1394 590
- Drive Hard Fault 1394 591
- Axis Module Hard Fault 1394 591
- System Module Hard Fault 1394 592
- Axis Power Fault 1394 593
- Axis Bus Loss Fault 1394 594
- 558 Fault Variables 595
- Axis It Fault 1394 597
- 562 Fault Variables 599
- System Over Temp Fault 1394 600
- 564 Fault Variables 601
- System Phase Loss Fault 1394 602
- System Ground Fault 1394 603
- 568 Fault Variables 605
- Status Variables 606
- Axis Status 608
- Acceleration Status 610
- Deceleration Status 610
- Feedback Status 611
- Homing Status 612
- Jog Status 612
- Lock Status 613
- Move Status 614
- Gearing Status 615
- Registration Status 615
- Time Lock Cam Status 616
- Position Lock Cam Status 617
- Watch Position Status 619
- Output Limit Status 620
- AxisLink Status 621
- Interpolator Status 622
- Interpolator Merging Status 623
- System Bus Up 1394 623
- Status LEDs 624
- Program Status 625
- RIO Status 625
- CNET Status 625
- SLC Status 627
- SLC_MO_Update_Acknowledge 627
- SLC MO Update Request 627
- SLC M1 Update Acknowledge 628
- SLC M1 Update Request 628
- DH-485 Status 628
- Axis I Limit Status 1394 629
- Axis It Limit Status 1394 629
- Axis Module Fault Status 1394 631
- 596 Status Variables 633
- Diagnostic Variables 634
- Analog Test Output 1 1394 635
- Axis Count 1394 636
- System kw 1394 636
- System Rated Current 1394 636
- Axis kw 1394 637
- Axis Rated Current 1394 637
- Axis Bridge I Limit 1394 637
- Axis Current Scaling 1394 637
- 602 Diagnostic Variables 639
- System Functions 640
- Motion Controller Functions 641
- Indirect DH-485 Variable 644
- RIO Adapter Variable 647
- RIO Scanner Variable 648
- Task Status 648
- Miscellaneous Inputs 650
- Axis Input 651
- RIO Input 652
- RIO Scanner Input 653
- SLC Bit Input 654
- AxisLink Input 654
- Flex I/O Input 655
- Flex I/O Analog Input 655
- Group Input 656
- Optional Masks 657
- RIO Group Input 658
- RIO Scanner Group Input 659
- SLC Bit Group Input 659
- AxisLink Group Input 660
- Flex I/O Group Input 661
- Axis Output 662
- RIO Output 663
- RIO Scanner Output 664
- SLC Bit Output 664
- AxisLink Output 665
- Flex I/O Output 665
- Flex I/O Analog Output 666
- Get Firmware 667
- Group Output 667
- RIO Group Output 668
- RIO Scanner Group Output 668
- SLC Bit Group Output 669
- AxisLink Group Output 670
- Flex I/O Group Output 670
- Flex I/O Module Type 671
- Master Cam Position 672
- Master Cam Time 673
- Slave Cam Position 673
- 638 System Functions 675
- Mathematical Functions 676
- Argument 677
- Argument–1 678
- 644 Mathematical Functions 681
- 646 Mathematical Functions 683
- Round Up 684
- Round Down 685
- Integer Value 686
- Exponent 687
- Natural Logarithm 688
- Square Root 690
- 654 Mathematical Functions 691
- Using AxisLink 692
- Getting Started 693
- Connecting the AxisLink Cable 694
- 658 Using AxisLink 695
- Configuring Virtual Axes 696
- 660 Using AxisLink 697
- Configuring Virtual Axes 661 698
- Using Virtual Axes 699
- Using Virtual Axes 663 700
- Homing Virtual Axes 701
- Virtual Axis System Variables 703
- Using AxisLink I/O 704
- AxisLink Inputs 705
- Defining AxisLink Inputs 706
- Reading Values via AxisLink 707
- Handling Faults 709
- Virtual Axis Faults 710
- AxisLink General Faults 711
- Handling Faults 675 712
- 676 Using AxisLink 713
- Handling Faults 677 714
- 678 Using AxisLink 715
- Performance Considerations 716
- 680 Using AxisLink 717
- Using the RIO Adapter Option 718
- Block Transfers 719
- IMC S Class RIO Adapter 721
- Configuring the RIO Adapter 723
- Enabling RIO in GML Commander 723
- Homing Axes 725
- Jogging Axes 727
- Axis Locked 736
- Application Program Running 738
- Using Block Transfers 739
- First Data Item 750
- Number and Format of Items 751
- 32-bit Integer Format 752
- (Number of Decimal Digits) 753
- 16-bit Integer Format 758
- 32-bit Signed BCD Format 762
- 32-bit Floating Point Format 766
- Fault and Status Codes 786
- Configuring ControlNet (CNET) 790
- Defining Inputs and Outputs 792
- Defining Input Bits 794
- Defining Input Floats 795
- Defining Input Group Bits 797
- Defining Local Variables 798
- Defining Output Bits 800
- Defining Output Floats 801
- Defining Output Group Bits 803
- Fault Handling 805
- 1394 GMC Turbo SLC Interface 806
- Rack Configurations 807
- Understanding M Files 830
- Types of M Files 831
- Transfer Modes 831
- Manual Mode 832
- Understanding M Files 797 834
- Enabling M File Transfers 836
- Understanding M Files 801 838
- Interrupts 840
- GML Commander Program 841
- SLC Program 842
- Initializing the Hardware 844
- Initializing the Hardware 809 846
- Initializing the Software 847
- Initializing the Software 811 848
- Initializing the Software 813 850
- Cams, or Interpolated Motion 856
- Interpolated Motion 857
- Interpolated Motion 821 858
- Interpolated Motion 823 860
- Merge From Jog, CAM, or Gear 862
- Going Online 866
- Accessing Your Controller 869
- Running a Program 871
- Pausing a Program 872
- Stopping a Program 873
- Run Program on Power-up 873
- Monitoring Program Flow 874
- Using Trace 875
- Using Auto Step 876
- Using Single Step 876
- Setting a Breakpoint 877
- Clear Breakpoints 878
- 842 Going Online 879
- Upload Options 881
- Upload Options 845 882
- 846 Going Online 883
- Upload Options 847 884
- Options 885
- Understanding CPU Utilization 887
- 852 CPU Utilization 889
- 854 CPU Utilization 891
- Memory Organization 892
- Application Memory 893
- Data Memory 893
- Working Memory 893
- 858 Memory Organization 895
- Appendix 896
- Data Parameters Table 897
- D14 Position Units D29.D30 0 899
- D97 Revs 0.2 0 904
- D7 Volts 5.4 0 (Volts) 904
- Data Bits Table 908
- Main Palette Blocks 877 914
- Main Palette Blocks 879 916
- Advanced Palette Blocks 918
- Advanced Palette Blocks 883 920
- CAM Palette Blocks 921
- DH-485 Palette Blocks 922
- RIO Palette Blocks 922
- SLC Palette Blocks 924
- ASCII Reference 926
- ASCII Printing Characters 928
- 892 ASCII Reference 929
- Analog offset error 487 930
- Analog test output 0 1394 597 930
- 894 Index 931
- Index 895 932
- 896 Index 933
- Lock Tolerance 75 934
- 898 Index 935
- Index 899 936
- 900 Index 937
- Index 901 938
- 902 Index 939
- Index 903 940
- 904 Index 941
- Index 905 942
- 906 Index 943
- Index 907 944
- Change Dynamics 243 945
- Analog offset setpoint 486 946
- 910 Index 947
- Index 911 948
- 912 Index 949
- Index 913 950
- 914 Index 951
- Index 915 952
- 916 Index 953
- Index 917 954
- 918 Index 955
- Index 919 956
- 920 Index 957
- Back Cover 958
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