Magnavox W-10CR Guía de instalación Pagina 110
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94 Programming Commands
ERR Miscellaneous Command
ACTION: Returns the MX controller error/warning number for this task.
PROGRAM SYNTAX: ERR=error number,severity
ERR - used in an expression
REMARKS: If an error occurs while the program is running, the program jumps to
label ERROR_HANDLER if it is present, otherwise it ends. The fault
LED blinks the ERROR code or WARNING code.
If an error or warning has occurred, the axis which caused the error can
be obtained by issuing an ERRAXIS command.
The predefined error codes are:
1 Axis +Limit Input activated while moving in the + direction.
2 Axis -Limit Input activated while moving in the - direction.
3 Axis Soft Limit exceeded while moving in the + direction.
4 Axis Soft Limit exceeded while moving in the - direction.
5 Closed Loop Correction attempts exceeded.
6 Position Error exceeded during motion.
7 Distance after Movereg Trigger is insufficient to decelerate.
8 Motion was attempted when the Drive is not ready.
9 Servo axis motion attempted with the Drive disabled.
10 Program Area out of memory
26 Excessive Duty Cycle Shutdown (IXT error)
27-99 User defined
Notes: The error trap is only enabled if the error code is 0. This
can be accomplished by programming an ERR=0 statement in the
ERROR_HANDLER routine. The error code is set to 0 when the
program is started by a RUN command or auto started on power
on.
The predefined Warning codes are:
11 Command axis is not in task group.
12 Analog I/O selected is out of range.
13 BCD selected is out of range.
14 Expansion Input selected is out of range.
15 Expansion Output selected is out of range.
16 Digital Input selected is out of range.
17 Digital Output selected is out of range.
18 LOG command argument is zero or negative
19 SQRT command argument is negative.
20 NVR element is out of range.
21 READ command is out of data arguments.
22 MAXSPD command is out of range.
23 Motion occurring at program end.
24 RS232 Configuration Error.
25 Servo Parameter is out of range.
ERR - used in an expression
Returns the last task error/warning number.
- PRICE: $50.00 1
- ENGINEERING CHANGES 2
- Revision Date Description 2
- Table of Contents 3
- SECTION & TITLE 6
- Table of Contents v 7
- Table of Contents vii 9
- 8 – FOLLOWING 10
- List of Illustrations 13
- Section 1 17
- Important 17
- Safety Information 17
- 1.1 – Cautions and Warnings 18
- Section 2 19
- Introduction 19
- How To Use This Manual 20
- Section 3 21
- Quick Start 21
- Installation Guide 21
- 3.2.1 - Bench Set Up 23
- System 24
- 3.3 - Installation 25
- 3.4 - WIRING THE CONTROLLER 25
- FOR OPERATION 25
- SECTION 4 27
- OVERVIEW OF 27
- SYSTEM OPERATION 27
- 4.1 – Features and Functions 28
- Overview 15 31
- 16 Overview 32
- Section 5 33
- Specifications 33
- Equivalent Circuits 33
- 5.3 – Input Power 34
- 5.4 – MX2000 System 34
- MX 2000 System 35
- 5.5 -Dual Axis Interface Card 36
- 5.5.3 –Encoder Connectors 37
- 5.5.4 – Axis I/O Connectors 38
- Dual Axis Interface 39
- Analog Drive Connector 40
- Board ID Board ID 41
- Axis Labels 41
- 5.6.1 – Auxiliary Serial Port 42
- 5.6.2 – Host Serial Port 43
- 28 Specifications 44
- 5.6.3 – DSP Card Inputs 45
- 30 Specifications 46
- 5.7 – Expansion I/O Board 47
- 32 Specifications 48
- BCD assignments 49
- 34 Specifications 50
- I/O POINT 51
- 5.8 – Digital I/O Board 52
- 5.8.1 – Input Connector 52
- 5.8.2 – Output Connector 53
- 5.8.3 – Internal Power Supply 54
- Digital I/O 55
- 5.9.1 – AC Input 56
- 5.9.3 – BCD assignments 56
- 5.10.1 – AC Input 57
- 5.10.2 – Input Connector 57
- 5.10.3 – Output Connector 57
- 5.11 – MX8 Power Supply Board 58
- 5.11.1 – AC Input 58
- 5.12 – MX2 Outline 59
- 5.13 – MX6 Outline 60
- 5.14 – MX8 Outline 60
- Specifications 45 61
- 46 Specifications 62
- SECTION 6 63
- Motion Controller 63
- Programming Interface 63
- 6.1.4 - References 65
- Motion Controller Programming 66
- Interface 66
- 6.3.5 – The Task Editor 67
- Edit Menu 68
- 6.3.5.1 – Document settings 68
- 6.3.5.2 - Editor Tool Box 69
- 6.3.6 – Terminal Emulation 69
- 6.3.6.1 – Configuring Buttons 69
- 6.3.7.2 – System Folder 70
- Mechanical home 72
- Mark registration 72
- Download 73
- Download Project 73
- Upload Source 73
- Download Operating System 73
- 6.3.10.2 – Utility Menu 74
- 6.3.10.3 – Window Menu 74
- 6.3.10.4 – Help Menu 74
- Section 7.0 75
- Software Reference 75
- Axis Related Command Syntax 77
- Example: COMMAND(x+2) 77
- COMMAND(n [,m] ) 78
- Programming Commands 63 79
- 64 Programming Commands 80
- Programming Commands 65 81
- 66 Programming Commands 82
- Programming Commands 67 83
- 68 Programming Commands 84
- Programming Commands 69 85
- 70 Programming Commands 86
- Programming Commands 71 87
- 88
- ^ Bitwise Operator 88
- >> Bitwise Operator 89
- ABS Mathematics Function 89
- 74 Programming Commands 90
- Programming Commands 75 91
- Programming Commands 77 93
- ARC Motion Parameter 94
- ATN Mathematics Function 95
- BOOST Motion Parameter 96
- Programming Commands 81 97
- 82 Programming Commands 98
- COMMON Miscellaneous Command 99
- COS Mathematics Function 99
- 84 Programming Commands 100
- Programming Commands 85 101
- 86 Programming Commands 102
- 88 Programming Commands 104
- Programming Commands 89 105
- 90 Programming Commands 106
- Programming Commands 91 107
- 92 Programming Commands 108
- Programming Commands 93 109
- 94 Programming Commands 110
- Programming Commands 95 111
- 96 Programming Commands 112
- Programming Commands 97 113
- 98 Programming Commands 114
- Programming Commands 99 115
- 100 Programming Commands 116
- Programming Commands 101 117
- 102 Programming Commands 118
- FOLMOVE Following Parameter 119
- FOLOFFSET Following Parameter 120
- Programming Commands 105 121
- 106 Programming Commands 122
- Programming Commands 107 123
- 108 Programming Commands 124
- Programming Commands 109 125
- 110 Programming Commands 126
- Programming Commands 111 127
- 112 Programming Commands 128
- Programming Commands 113 129
- ELSE...END IF 130
- IN I/O Function 131
- 116 Programming Commands 132
- Programming Commands 117 133
- 118 Programming Commands 134
- Programming Commands 119 135
- 120 Programming Commands 136
- LCASE$ String Manipulation 137
- LINE COMMAND CYCLE 138
- Programming Commands 123 139
- MID$ String Manipulation 140
- Programming Commands 125 141
- MOVE CYCLE 142
- Programming Commands 127 143
- 128 Programming Commands 144
- Programming Commands 129 145
- 130 Programming Commands 146
- Programming Commands 131 147
- 132 Programming Commands 148
- Programming Commands 133 149
- 134 Programming Commands 150
- Programming Commands 135 151
- 136 Programming Commands 152
- Programming Commands 137 153
- 138 Programming Commands 154
- Programming Commands 139 155
- 140 Programming Commands 156
- Programming Commands 141 157
- 142 Programming Commands 158
- Programming Commands 143 159
- 144 Programming Commands 160
- Programming Commands 145 161
- 146 Programming Commands 162
- Programming Commands 147 163
- 148 Programming Commands 164
- Programming Commands 149 165
- 150 Programming Commands 166
- Programming Commands 151 167
- 152 Programming Commands 168
- SPEED Change During Motion 169
- 154 Programming Commands 170
- Programming Commands 155 171
- TIMER Time Function 172
- Programming Commands 157 173
- 158 Programming Commands 174
- Programming Commands 159 175
- 160 Programming Commands 176
- Programming Commands 161 177
- 162 Programming Commands 178
- Programming Commands 163 179
- 164 Programming Commands 180
- Programming Commands 165 181
- 166 Programming Commands 182
- Programming Commands 167 183
- 168 Programming Commands 184
- Programming Commands 169 185
- 170 Programming Commands 186
- Programming Commands 171 187
- 172 Programming Commands 188
- Programming Commands 173 189
- 174 Programming Commands 190
- Programming Commands 175 191
- 176 Programming Commands 192
- Programming Commands 177 193
- 178 Programming Commands 194
- Programming Commands 179 195
- 180 Programming Commands 196
- Programming Commands 181 197
- 182 Programming Commands 198
- Programming Commands 183 199
- 184 Programming Commands 200
- Programming Commands 185 201
- 186 Programming Commands 202
- Programming Commands 187 203
- 188 Programming Commands 204
- Programming Commands 189 205
- 190 Programming Commands 206
- Programming Commands 191 207
- 192 Programming Commands 208
- Programming Commands 193 209
- 194 Programming Commands 210
- Programming Commands 195 211
- 196 Programming Commands 212
- Programming Commands 197 213
- 198 Programming Commands 214
- Programming Commands 199 215
- 200 Programming Commands 216
- Programming Commands 201 217
- 202 Programming Commands 218
- Section 8 219
- Following 219
- 8.1.2 - Following Ratio 221
- 8.1.3 - Follower Motions 221
- 8.1.5 - Advance/Recede cycle 223
- 8.1.5.3 - Offset Distances 223
- Command Syntax: 224
- 8.1.7 – Distance Measurements 225
- 8.1.8 - Cut to length Example 226
- 8.1.9.1 Rotating Knife Cycle 228
- Rotary Knife Cycle 229
- FOLOFFSETDIST 230
- Program Example 233
- ACTSPD Trajectory Parameter 234
- ENCSPD Trajectory Parameter 234
- FOLINPUT Following Parameter 235
- FOLDCCDIST 239
- Master Velocity100% 239
- If the FOLRATIO is changed 241
- FOLJOG Following Motion 242
- FOLMOVE Following Motion 243
- FOLMOVEREG Following Motion 244
- STOP Motion Parameter 245
- FOLSYNC Following Motion 245
- FOLMINRATIO=.1,,0 249
- 8.1.11 - Follower Exercise 254
- Section 9 259
- Servo Drive 259
- 9.1 - Servo Control 260
- Servo Block Diagram 260
- 9.1.1 - Servo Tuning 260
- 9.1.1.1 - System folder 260
- 9.1.1.2 - Encoder Folder 261
- 9.1.1.3 - Servo Drive Folder 261
- Servo Tuning environment 262
- 9.1.1.5 - Auto Tuning 263
- Response with Kvff = 0% 265
- Note reduction in error 265
- SHUTDOWN 266
- tune calculation 267
- View Logged Data 268
- Response with low Ki and 269
- Servo Drive 255 271
- PEAK CURRENT vs TIMEOUT 271
- FOLERR Motion Parameter 272
- INTLIM Servo Parameter 273
- IXT Servo Parameter 274
- KAFF Servo Parameter 275
- KD Servo Parameter 275
- KI Servo Parameter 276
- KP Servo Parameter 277
- KVFF Servo Parameter 278
- OUTLIMIT Servo Parameter 278
- STOPERR Motion Parameter 279
- WNDGS Motion Parameter 280
- Section 10 281
- Stepper Drive 281
- 266 Stepper Drive 282
- 10.4 - Encoder Folder 283
- 268 Stepper Drive 284
- BOOST Stepper Parameter 285
- 270 Stepper Drive 286
- LOWSPD Stepper Parameter 287
- REDUCE Stepper Parameter 288
- COMMAND SYNTAX: 289
- EXAMPLES: 289
- WNDGS Stepper Parameter 290
- Section 11 291
- Data Logging 291
- 11.1 - Data Logging 292
- 11.1.2 - Data Transfer 293
- 11.1.3 - View Data 293
- Section 12 295
- Environment 295
- 12.2 - Task Debugging 296
- 12.2.3 - Terminal Window 297
- 12.2.4 - Watch variables 297
- 282 Debug Environment 298
- Section 13 299
- Application Examples 299
- MX2000 Axis Card 300
- Analog inputs 300
- 13.1.2 - Example Description 301
- 13.1.3 - Main Section 301
- 13.1.4 - Teach section 301
- 286 Application Examples 302
- Application Examples 287 303
- 288 Application Examples 304
- Application Examples 289 305
- Arbitrary Continuous Motion 306
- 13.2.1 – E 307
- 13.3.1 – Example Program 308
- 13.4.1 –Example Program 309
- 294 Application Examples 310
- 13.5.1 – Example Program 312
- SECTION 14 313
- TROUBLESHOOTING 313
- SECTION 15 315
- GLOSSARY 315
- 316
- Glossary 301 317
- 302 Glossary 318
- ASCII Table 319
- 304 Glossary 320
- ECN# 84626 322
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