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Basic 6250 Features
79
Summary of Related 6000 Series Commands
NOTE: A detailed description of each command is provided later.
DATSIZ
.....
Establishes the number of data elements a specific data program is to contain. A
new
DATPi
program name is automatically generated according to the number of
the data program (
i
= 1 through 9). The memory required for the data program is
subtracted from the memory allocated for user programs (see
MEMORY
command).
DATPTR
.....
Moves the data pointer to a specific data element in any data program. This
command also establishes the number of data elements by which the pointer
increments after writing each data element from the
DATTCH
command and after
recalling each data element with the
DAT
command.
DATTCH
.....
Stores the variable data into the data program specified with the last
DATSIZ
or
DATPTR
command. After the data is stored, the data pointer is incremented the
number of times entered in the third integer of the
DATPTR
command. The data
must first be assigned to a numeric variable before it can be taught to the data
program.
TDPTR
.......
Responds with a 3-integer status report (
i,i,i
): First integer is the number of
the active data program (the program # specified with the last
DATSIZ
or
DATPTR
command); Second integer is the location number of the data element
to which the data pointer is currently pointing; Third integer is the increment set
with the last
DATPTR
command.
[
DPTR
]
....
From the currently active data program, uses the number of the data pointer's
location in a numeric variable assignment operation or a conditional statement
operation.
[
DATPi
]
..
The name of the data program created after issuing the
DATSIZ
command. The
integer (
i
) represents the number of the data program. Data programs can be
deleted just like any other user program (e.g.,
DEL DATP1
).
[
DATi
]
....
From the data program specified with
i
, assigns the numeric value of the data
element (currently pointed to by the data pointer) to a specified variable parameter
in a 6000 series command (e.g.,
D(DAT3),(DAT3)
).
Teach Mode Application Example
In this example, 2 axes of the 6201 are used to move a 2-axis stage. This example illustrates a
common method of teaching a path by using the joystick to move the load into position,
teach the position (triggered by the Joystick Release input), then move to the next position.
Five positions will be taught from each axis (2 axes at one trigger), for a total of 10 data
elements in the data program. After all 10 positions are taught to the data program, the 6201
will automatically move both axes to a home position, move to each position that was
taught, and then return to the home position.
For the sake of brevity, this example is limited to teaching 10 position data points; however,
in a typical application, many more points would be taught. Also, it is assumed that end-of-
travel and home limits are wired and a homing move has been programmed.
What follows is a suggested method of programming the 6201 for this application. To
accomplish the teach mode application, a program called
MAIN
is created, comprising three
subroutines:
SETUP
(to set up for teach mode),
TEACH
(to teach the positions), and
DOPATH
(to implement a motion program based on the positions taught).
The joystick operation in this example is based on setting the Joystick Axes Select input (pin
#15 on the Joystick connector) to high to select analog input channels #1 and #2 (pins #1 and
#2) for joystick use, and using the Joystick Release input (pin #17) to trigger the position
teach operation.
