Parker 6250, User Manual

Page: 99 / 138

84
6250 Servo Controller User Guide
Command Description
> MAØ
Places axis 1 in the incremental mode
> MCØ
Places axis 1 in the preset mode
> LHØ
Disable axis 1 limits
> DEF prog1
Begin definition of program
prog1
- A25
Sets acceleration to 25 rps2
- AD25
Sets deceleration to 25 rps2
- V1Ø
Sets velocity to 10 rps
- D4ØØØ
Sets distance to 4,000 steps
- GO1
Executes the move (Go)
- D~
Reverse direction
- GO1
Executes the move (Go)
- END
Ends definition of program
> RUN prog1
Runs program
prog1
You can run a program by entering the
RUN
command immediately followed by a program
name and a delimiter.
Rule of thumb:
DEL
before
DEF
☞
Once you define (
DEF
) a program, it cannot be redefined until you delete it with the
DEL
command.
Subroutines
A subroutine is exactly the same as a program. A subroutine is defined with the
DEF
command, and executed with the
GOSUB
command. Subroutines can be nested up to 16 levels
deep.
Stored Programs and Non-volatile Memory
All programs are automatically stored in non-volatile memory (battery-backed RAM). All
paths compiled with the
PCOMP
command are also stored in non-volatile memory. Additional
information that is stored in non-volatile memory includes:
❏
All variables: numeric (
VAR
), binary (
VARB
), and string (
VARS
)
❏
Compiled contouring paths (
PCOMP
)
❏
Device Address (
ADDR
)
❏
Memory allocation (
MEMORY
)
❏
Power-up program (
STARTP
)
❏
RP240 password (
DPASS
)
❏
RS-232C baud rate
❏
Servo gain sets ( SGSET )
A checksum is calculated over this user memory area each time on power-up or reset. A bad
checksum indicates that the user memory has been corrupted (possibly due to electrical noise)
or has been cleared (due to a dead battery). The 6250 will clear all user memory when a bad
checksum is calculated on power up or reset, and bit 22 will be set in the
TSS
command
response.
Memory
Allocation
The 6250 has 40,000 bytes of memory divided into two partitions—one for program storage
and the other for a future product feature. The default allocation for the 6270 is 39,000 bytes
for program storage. The remaining 1,000 bytes is reserved.
Programs defined with the
DEF
command are stored in the memory allocated for program
storage.
CAUTION
Using a memory allocation command (e.g.,
MEMORY39ØØØ,1ØØØ
) will erase all existing
programs. However, issuing the
MEMORY
command by itself (i.e.,
MEMORY
—to request the
status of how the memory is allocated) will not affect existing programs.