Aerotech UNIDEX 600 Series, Руководство пользователя

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AerDebug U600 User’s Guide
4-12
Aerotech, Inc.
Version 1.4
4.5. Programming Errors
Programming errors result when parameters are set outside their minimum or maximum
allowable limits. They also occur when incorrect arguments are specified in configuration
commands. To display programming errors, type GETPROG at the axis command
prompt, then press the <Enter> key. If an error is present, AerDebug responds with
diagnostic information that pertains to the type of error and the data received by the axis
card. See the U600 Series Library Reference Manual, P/N EDU156 under the
introduction, for more details on programming errors.
Assume a programming error has been generated from setting a proportional gain (KP)
parameter beyond its maximum limit. Typing GETPROG at the axis prompt and pressing
<Enter> will reveal the following message.
( 5): Parameter value too high
11 0 FF FF FF FF
Only the error message string provides useful information. The other information is used
for internal diagnostic purposes only. Typing GETPROG will also clear and acknowledge
any programming errors present.
If multiple programming errors have occurred, only the last error will be displayed by
the GETPROG command. To allow all errors to be reported, it is up to the user to
include a statement in the program that (e.g., setting the bit masks) allows the user to
stop motion, do a status inquiry and view each error as it occurs.
4.5.1. Running CNC Programs
AerDebug allows the user to compile, download, and run CNC programs or single CNC
lines. After AerDebug begins executing a CNC program, it returns the user to the prompt
- AerDebug does not wait for the program to complete before returning to the prompt and
allowing the user to enter new commands (see the WAIT command in AerDebug to force
AerDebug to wait for program completion).
Therefore, the user can initiate programs on other tasks from AerDebug while the current
task is busy running a program. However, each task can only execute one program at a
time. The user can specify an immediate command to be executed while any or all other
tasks are running a program. However, the commands that may be executed in the
immediate mode are limited to those commands that are asynchronous. Asynchronous
commands are commands that would finish execution immediately, meaning, they would
have a defined cycle time no longer than the time required by the UNIDEX 600 Series
controller to begin the command. This disallows commands such as G1 moves.
The EXELINE command executes single CNC lines in immediate mode.
EXAMPLE:
EXELINE “G70” ; Set English programming mode active
Executing a CNC program on the UNIDEX 600 Series controller requires four steps. The
program must first be compiled (converted) to a binary file that can be downloaded to the
axis processor card for execution. Following the compile process, the binary equivalent of
the users CNC program must be downloaded (transferred) to the axis processor card for