`
`Exhibit
`
`2011
`
`Exhibit
`
`2011
`
`
`
`

`

`...
`0 .._
`0
`
`•
`
`•
`
`0
`
`Compumotor Division
`Parker Hannifin Corporation
`p/n 88-Q12966-Q1
`
`Parker
`
`RGBINSP00001703
`CONFIDENTIAL
`
`

`

`Important User Information
`
`To ensure that the equipment described in this user guide, as well as all the equipment connected to and used with it, operates
`satisfactorily and safely, all applicable local and national codes that apply to installing and operating the equipment must be
`followed. Since codes can vary geographically and can change with time, it is the use~s responsibility to identify and comply with
`the applicable standards and codes. WARNING: Failure to comply with applicable codes lllld standards can result in
`damage to equipment and/or serious Injury to personnel.
`
`Personnel who are to install and operate the equipment should study this user guide and all referenced documentation prior to
`installation and/or operation of the equipment.
`
`In no event will the provider of the equipment be liable for any incidental, consequential, or special damages of any kind or nature
`whatsoever, including but not limited to lost profrts arising from or in any way connected with the use of this user guide or the
`equipment.
`
`@ Compumotor Division of Parker Hannifin Corporation, 1991-1994
`- All Rights Reserved-
`
`Motion Architect is a registered trademark of Parker Hannifin Corporation.
`CompuCAM and Servo Tuner are trademarks of Parker Hannifin Corporation.
`AT and IBM are registered trademarks of International Business Machines Corporation.
`Microsoft and MS-005 are registered trademarks, and Windows is a trademark of Microsoft Coporation.
`
`The information in this user guide, including any apparatus, methods, techniques, and concepts described herein, are the
`proprietary property of Parker Compumotor or its licensors, and may not be copied, disclosed, or used for any purpose not expressly
`authorized by the ownerthereof.
`
`Since Parker Compumotor constantly strives to improve all of its products, we reserve the right to change this user guide and
`equipment mentioned therein at any time without notice.
`
`Parker Compumotor
`
`•
`
`•
`
`.I,
`
`-
`
`RGBINSP00001704
`CONFIDENTIAL
`
`

`

`Change Summary
`6000 Series Software Reference Guide
`Revision H
`
`The following is a summary of the primary technical changes to this reference guide since the last version was
`released. This reference guide, p/n 88-012966-0lH (released in June 1994), supersedes 88-012966-0lG.
`
`Topic
`ANI Option
`
`Command
`Programming Error
`
`Description
`New: All servo products can be ordered with the ANI option. The ANI option provides
`±1 OV, 14-bit analog inputs (one per axis). ANI feedback can be selected with the SFB
`command. The ANI feedback value can be captured, monitored, offset (PSET), scaled
`(scLA, SCLD, etc.) like any other feedback source. ANI-specific commands:
`l .... ANI Position
`TANL. ........ Transfer Position of ANI
`[ ANI
`[ PCA l ....... Position of Captured ANI
`TPCA .......... Transfer Position of Captured ANI
`Bit Select Operations Clarification: You can use the bit select operator (.)in conjunction with a hyphen(-)
`to affect the value of one binary bit in a binary field. This eliminates the need to enter all
`the previous bits if you want to affect only one. For example, to disable error-checking
`bit #9 in the ERROR command, you can enter the ERROR. 9-0 command.
`Clarification: The TCMDER command reports only the first command error detected
`when running or downloading a program. After you correct the error, run or download the
`program again to check for additional errors (indicated by the ? prompt).
`Command-to-Product Change: The footnote references for product incompatibility have been removed from
`the Command Listing (by Command Type) and Command Listing (Alphabetical) tables.
`Compatibility
`Instead, a new command-to-product compatibility table is provided in Appendix A.
`Communication Echo Correction: The Communication Echo Enable (ECHO) command may be used with the
`bus-based products (AT6400 & AT6n50), not just stand-alone products as previously
`indicated. In bus-based products each block of data placed in the input buffer will be
`echoed to the output buffer one command at a time. For stand-alone products,
`commands will be echoed character by character.
`Clarifications: The mechanical resolution of all axes used for contouring must be
`identical. Scaling cannot compensate for mechanical variances in resolution. In
`addition, all axes must have the same pulse width (PULSE) and drive resolution (DRES)
`settings. If you change the PULSE setting, you will need to recompile (PCOMP) any
`previously compiled paths.
`Clarification: The result of division(/) is specified to 5 decimal places.
`New Features and Clarifications:
`• Clarification: There are four ways to cancel the branch to the error program:
`- (Enhancement) Disable the error-checking bit with the ERROR. n -0 command,
`where "n" is the number of the error-checking bit you wish to disable (e.g.,
`ERROR. 6-0).
`- (Enhancement) Issue the ERRORP CLR command to un-assign the program
`assigned as the error program and cancel the branch.
`- Delete the program assigned as the ERRORP program (DEL <name of program>).
`- Satisfy the How to Remedy the E!Torrequirement (see table in the ERRORP
`command description).
`NOTE: In addition to canceling the branch to the error program, you must also
`remedy the cause of the error; otherwise, the error program will be called again
`when you resume operation. Refer to the How to Remedy the E!Torcolumn in the
`table in the ERRORP command description for details.
`
`Contouring
`
`Division (math)
`Error Handling
`
`• Clarification: If you wish the branch to the error program to occur at the time the error
`condition is detected, enable the continuous command execution mode (COMEXCl).
`Otherwise, the branch will not occur until motion on all axes has stopped.
`
`RGBINSP00001705
`CONFIDENTIAL
`
`

`

`Change Summary (continued)
`
`Feedback Source
`Selection
`(Servo Products)
`
`Feedrate Override
`
`Inputs and Outputs
`
`Memory Handling
`
`New Commands
`
`New Products
`Released
`ON Program,
`clearing
`
`Participating Axes
`
`New: If you have a servo controller, you can select the feedback source with the SFB
`command. The choices are encoder, LOT and ANI. LOT feedback is available only for
`6270 owners, and ANI feedback is available only if you have the "-ANI" option.
`Parameters for scaling (SCLA, SCLD, etc.), tuning gains (SGI, SGP, etc.), and position
`offset (PSET) are specific to the feedback source currently selected with the last SFB
`command. If your application requires switching between feedback sources for the
`same axis, then for each feedback source, you must issue the SFB command and then
`enter the scaling, gains, and PSET commands specific to that feedback source.
`Related commands:
`[ FB J .......... Position of Current Feedback Device
`SFB ...••••....••• Select Servo Feedback Source
`TFB .............. Transfer Position of Feedback Device
`Clarification: When using feedrate override on a four-axis 6000 controller, axis 4 is
`used to perform the feedrate override and can no longer be used for motion. IF THE
`SHUTDOWN OUTPUT IS NOT USED, you must disconnect axis 4; otherwise, motion will
`occur on that axis.
`Clarification: Many people refer to a voltage level when referencing the state of
`inputs and outputs. Because current loops are less susceptible to electrical noise
`disturbances than voltage levels, Compumotor has adopted the convention of current
`loops in both its hardware and documentation. Therefore, an input/output that is "low"
`means that no current is flowing and a voltage may be present at the terminal.
`Conversely, if an input/output is "high", current is flowing and no voltage is present. The
`active levels for home, end-of-travel, and programmable inputs are set with the HOMLVL,
`LHLVL, and INLVL commands, respectively. The active levels for programmable
`outputs are set with the OUTLVL command.
`New:
`• (-M) Memory Expansion Option: For stand-alone products only, the -M memory
`expansion option. Summary of benefits:
`- Total memory for programs and paths increased from 40,000 to 150,000
`- Max. number of programs increased from 1 00 to 400
`- Max. number of labels increased from 200 to 600
`- Max. number of compiled paths increased from 75 to 300
`• TDIR and TMEM Formats Enhanced: A report-back line indicating the status of
`compiled paths has been added to the TDIR and TMEM reports. Example:
`*25 OF 25 SEGMENTS (100%) COMPILED MEMORY REMAINING
`New:
`[ PCA J ••••• Position of Captured ANI
`[ DAC 1 ....... Value of DAC Output
`[ PCC ] •••.. Captured Commanded Position
`DATPTR •.••... Set Data Pointer
`[ PCL ] ..... Position of Captured LOT
`DATSIZ ..•...• Data Program Size
`SDTAMP ••••• Servo Dither Amplitude
`DATTCH •.•.... Data Teach
`[ DPTR ] ••••• Location of Data Pointer
`SDTFR •••.... Servo Dither Frequency
`( FB J ..••.•.•.. Position of Current Feedback Device
`SFB •••......... Select Servo Feedback Source
`TDPTR ••••••• Transfer Location of Data Pointer
`[ LDT l ....... Position of LOT
`TFB ............ Transfer Position of Feedback Device
`LDTGRD •.•••.. LOT Gradient
`TLDT .•........ Transfer Position of LOT
`LDTRES ....... LOT Resolution
`TPCA. •.....•.• Transfer Position of Captured ANI
`LDTUPD •.•••.• LDT Position Update Rate
`TPCC •.••.•.... Transfer Captured Commanded Pos.
`OUT PC .••.•.•.. Output on Position- Axis 3
`TPCL .......... Transfer Position of Captured LOT
`OUTPD ......... Output on Position- Axis 4
`New: This document was updated to accommodate the release of the 6201, 6270, and
`AT6n50 (AT6450 & AT6250) products.
`New: If you wish to prevent the assigned ON program from being executed when an ON
`condition is met, issue the ONP CLR command. This un-assigns the currently assigned
`ON program without having to delete it.
`Clarification: Command parameters entered for axes excluded as a result
`
`•
`
`i
`I
`j
`
`•
`
`•
`
`RGBINSP00001706
`CONFIDENTIAL
`
`

`

`Change Summary (continued)
`
`Position Capture
`
`(Servo Products Only)
`Enhancements:
`In addition to the encoder positions, you may now capture the commanded position. If
`you have the ANI option for your servo controller, you may capture the ANI values.
`6270 users may capture the LOT positions.
`When a trigger interrupt input (i.e., a trigger input assigned the trigger interrupt
`function with the INFNCi-H command) is activated, the commanded position and the
`pos~ions of all feedback devices on all axes are captured at one time. The position
`information is stored in registers and is available through the use of transfer and
`assignment/comparison commands (see table below).
`
`Captured
`
`Information
`
`Transfer
`
`Assignment/Comparison
`
`Commanded Position
`LOT Position
`Encoder Position
`ANI Value (-ANI option)
`
`TPCC
`TPCL
`TPCE
`TPCA
`
`PCC
`PCL
`PCE
`PCA
`
`If you are capturing the position/value of an encoder, LOT or ANI when it is selected as
`the feedback source with the SFB command, the captured position is interpolated from
`the last sampled position and velocity of the feedback device, and the time elapsed
`since the last sample. The position sample rate is detert1]ined by the SSFR and INDAX
`commands (system update rate). The accuracy of the position capture is ±50J1S x
`velocity.
`If you are capturing the position of the encoder, LOT or ANI when it is NOT selected with
`the SFB command, the last sampled position is simply stored as the captured position.
`Therefore, the accuracy is one system update period (determined by the SSFR and
`INDAX commands).
`Regardless of the SFB selection, one encoder position is latched in hardware within ±1
`encoder count (at max. encoder frequency) when its dedicated trigger input is activated
`(see table below).
`Encoder
`ENCODER 1
`ENCODEA2
`ENCODER3
`ENCODEA4
`
`6270
`TAG-A
`n'a
`n'a
`rVa.
`
`OEM625n
`TAG-A
`TRG-8
`n'a
`n'a
`
`AT6n50
`TAG-A
`TAG-B
`TRG-C
`TRG-0
`
`615n
`TAG-A
`TAG-8
`n'a
`rv'a
`
`625n
`TAG-A
`TAG-B
`TAG-C
`rv'a
`
`Position Offset
`(PSET), clearing
`Program Security
`Feature
`
`Programmable 1/0
`Bit Patterns
`
`Programmable
`Output Functions
`
`Programming Guide
`Section
`
`If you issue a PSET (position offset) command, any previously captured positions will be
`offset for the PSET value.
`New: If you wish to clear the position offsets, issue the PSET CLR command.
`
`New: A new programmable input function (INFNCi-Q) was added to affect programming
`security. For more information, refer to the Program Security section on page 10, or to
`the INFNC command description.
`Change: Listings and illustrations of the programmable 1/0 bit pattern for each 6000
`Series product were removed from the respective command descriptions (e.g., INEN,
`OUTEN, TIN, TOUT, etc.) and consolidated into a table located in the new Programming
`Guide section at the beginning of this document (see page 6).
`Clarifications:
`• The descriptions of each programmable output function have been greatly expanded.
`• Servo Controllers: You can use function B (Moving/Not Moving) and the target zone
`mode to indicate when the load is In Position. That is, with the target zone mode
`enabled (STRGTEl), the output will not change state until the move completion criteria
`set with the STRGTD and STRGTV commands have been met.
`
`New: The Programming Guide section, added to the beginning of this document (pages
`1-27), is designed as a guide to programming with the 6000 Series command language,
`including syntax and general programming guidelines. To gain a full understanding of
`how the 6000 Series commands are used together to implement specific features, refer
`to the Feature Implementation chapter in your controller's user guide, and to any
`feature-specific documentation provided with your product.
`
`RGBINSP00001707
`CONFIDENTIAL
`
`

`

`Change Summary (continued)
`
`Scaling (servos)
`
`Encoder
`Feedback
`
`New:
`• Parameters for scaling (scLA, SCLV, SCLD, PSCLA, and PSCLV) are specific to the
`feedback source selected with the last SFB command. Therefore, if your application
`requires switching between feedback sources for the same axis, then for each
`feedback source, you must select the feedback source with the appropriate SFB
`command and issue the scaling factors specific to that feedback source.
`• The default scale factor depends on which feedback source is currently selected with
`the SFB command:
`Scaling
`Command
`
`ANI
`Feedback
`
`LOT
`Feedback
`
`SCLA& PLSCA
`SCLV& PLSCV
`SCLD
`
`4000
`4000
`1
`
`819
`819
`819
`
`432
`432
`432
`
`Servo Control Signal Clarifications:
`Offset (SOFFS)
`• If you use the SOFFS command to offset the servo controller's commanded analog
`control signal output, BE AWARE that this can cause acceleration to a high speed if
`there is little or no load.
`• 6270 users: If you set the 6270's jumpers tor current control, use a voltage-to-
`current ratio to enter the appropriate SOFFS command value in volts.
`
`Servo Update Rates Change: The servo sampling and motion trajectory updates have changed (see table
`in SSFR command description). The SSFR table now shows the system update values
`that are also affected by the INDAX and SSFR command values. The servo update rate is
`the rate for 110 updates, input debounce, timer resolution, fast status update
`(bus-based controllers), and LDT position update (6270).
`
`Startup Program,
`clearing
`
`Status: Axis
`
`Status: Error
`
`Streaming Mode
`
`Teach Mode
`
`Warning Messages
`for P-CUT and ENBL
`
`New: If you wish to prevent the start-up program from being executed on power up or
`reset, issue the STARTP CLR command. This un-assigns the currently assigned start-
`up program without having to delete it.
`New: Bit #27 is now used to indicate if there is an LOT position read error
`(1 = error; 0 =no error). An LDT position read error can be caused by a disconnected
`LDT, mechanical failure of LDT or detachment of LDT from the load, or LDTUPD command
`value too low.
`
`New: Bit #27 is now used to indicate if there is an LOT position read error
`(1 = error; 0 = no error). An LDT position read error can be caused by a disconnected
`LDT, mechanical failure of LDT or detachment of LDT from the load, or LDTUPD command
`value too low.
`
`Clarifications: A maximum of 60 so command values per axis are allowed inside a
`loop.
`
`New: A new data teach mode was added and is available in all 6000 Series products.
`The Teach Mode is simply a method of storing (teaching) variable data and later using
`the stored data as a source for motion program parameters. The variable data can be
`any value that can be stored in a numeric (VAR} variable (e.g., position, acceleration,
`velocity, etc). The variable data is stored into a data program, which is an array of data
`elements that have a specific address from which to write and read the variable data.
`Data programs do not contain 6000 Series commands.
`For more information, refer to the Teach Mode section in the product user guide, or to
`the descriptions of the commands added to support this feature:
`DATPTR ....... Set Data Pointer
`[ DPTR l ... Location of Data Pointer
`DATSIZ ....... Data Program Size
`TDPTR ....... Transfer Location of Data Pointer
`DATTCH ....... Data Teach
`
`New: If motion is commanded when the pulse-cut input (P-cUT input on steppers) or the
`enable input (ENBL input on servos) is not grounded, a warning message will be
`displayed:
`Steppers: "wARNING: PULSE CUT INPUT ACTIVE"
`Servos: "wARNING: ENABLE INPUT INACTIVE"
`
`Writing Text
`
`Clarification: When using the WRITE and DWRITE commands, you may not use the
`asterisk ( *) in the character string.
`
`'
`
`•
`
`RGBINSP00001708
`CONFIDENTIAL
`
`

`

`Purpose of This Document
`
`This document is designed as a guide to programming With the 6000 Series command language and
`as a reference for all the 6000 Series commands. To gain a full understanding of how the 6000
`Series commands are used together to implement specific features, refer to the Feature
`Implementation chapter in your controller's user guide, and to any feature-specific documents
`provided With your product.
`
`Table of Contents
`
`Page 1-27
`
`Programming Guide: Guide for programming the 6000 Series controller.
`
`Motion Architect® -··············-················-···························································-·······2
`Command Syntax ···············-···························································-···························· 2
`System Performance ··············-·-····-······································-·············-·············-····5
`Inputs and Outputs (1/0) ···········································-············································· 5
`Creating Basic Motion ............................................................................................... 7
`Creating Programs & Subroutines ·········-······················-··············-.. ················ 7
`Storing Programs & Contouring Paths ····-·-····-·-··-···-·······-·······-········· ...... 8
`Non-Volatile Memory (Stand-Alone Products Only) .................... ·-·-····· 9
`Creating and Executing a Set-up Program .................................................. 10
`Program Security ·-·······················-····-·············-··········-··········-·-···············-·-·······10
`Controlling Execution of Programs and the Command Buffer ........ 11
`Changtng Command Parameters Dwing Motion ............ ........................ 13
`Program Flow Control ............................................................................................. 13
`Program Interrupts ········-·····-·····-·····················-.. ·····················-·-··········· .. ······-·· 18
`Program Debug1bols .............................................................................................. 19
`Error Handling ............................................................................................................. 24
`Sample Programs Provided ···················-·-································-·-·············-······ 27
`
`Page 29-38 Command listing (by ColTI1TlD.Tld Type): List of all commands by their command type,
`includes command fields and command examples.
`
`Page 39-44 Command Listing (Alphabetical): Alphabetical list of all commands, includes
`command fields and command examples.
`
`Page 45-240 Command Descriptions: The command description format is explained on page 45.
`Operator symbols are then described, followed by the rest of the 6000 Series
`commands in alphabetical order.
`
`Page 241-44 Appendix A: 6000 Series Corrunand Compatibility: Alphabetical list ofall6000
`Series commands and the products With which they are compatible.
`
`Page 245-48 Appendix B: X Series vs. 6000 Series Compatibility: Alphabetical list of X Series
`commands and the 6000 Series commands with which they are compatible.
`
`Page 249-51 Appendix C: Command Value Substitutions: Alphabetical list of all commands and
`the possible command value substitutions.
`
`Page 253-54 Appendix D: ASCII Table
`
`Page 255-60
`
`Index
`
`RGBINSP00001709
`CONFIDENTIAL
`
`

`

`Programming Guide
`
`This section is designed as a guide to programming with the 6000 Sertes command language.
`Detailed descrtptions of each command are provided later in the Command Descriptions section.
`
`To gain a full understanding of how the 6000 Sertes commands are used together to implement
`specific features, refer to the Feature Implementation chapter in your controller's user guide, and to
`any feature-specific documentation provided with your product.
`To aide you in your programming efforts, Compumotor provides sample programs. These programs
`are located on the DOS Support Disk found in your product ship kit. They may be opened and
`edited in Motion Architect's Program Editor module.
`
`Contents
`
`Motion Architect® ........................................... 2
`Command Syntax ........................................... 2
`Overview ................................................ 2
`Description of Syntax Letters and Symbols ... 3
`Comparison and Assignment Syntax ............ 3
`Operator Symbols .................................... 4
`General Guidelines for Syntax .................... 4
`Binary and Hexadecimal Values .................. 4
`Command Value Substitutions .................... 5
`System Performance ...................................... 5
`Inputs and Outputs (1/0) .................................. 5
`Programmable 1/0 Bit Patterns .................... 6
`Active High/Active Low Conventions ............ 6
`Creating Basic Motion .................•................... 7
`Creating Programs & Subroutines ..•................... 7
`Program Definition .................................... 7
`Subroutines ............................................ 8
`Storing Programs & Contouring Paths ................. 8
`Storing Programs for Stand-Alone Products ... 8
`Storing Programs for Bus-Based Products .... 8
`Memory Allocation .................................... 8
`Non-Volatile Memory (Stand-Alone Products) ....... 9
`Creating and Executing a Set-up Program ......... 10
`Set-up Program Execution for
`Stand-Alone Controllers ........................ 10
`Set-up Program Execution tor
`Bus-Based Controllers . . . . . . . . . . . .. . . . . . . . . .. . . 1 0
`
`Program Security ......................................... 10
`Controlling Execution of Programs and the
`Command Buffer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
`Continuous Command Execution . .. .... ........ 11
`Continue Command Execution on Kill ......... 12
`Save Command Buffer on Umit ................. 12
`Pause Command Execution Until In
`Position Signal .. . . . . .. . . . . . . . . .. . . . . . . . . . . . . .. . . . 12
`Effect of Pause/Continue Input ................. 12
`Save Command Buffer on Stop .....•........... 12
`Changing Command Parameters During Motion .. 13
`Program Flow Control . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . 13
`Unconditional Looping and Branching ......... 14
`Conditional Looping and Branching ............ 15
`Program Interrupts ................................•...... 18
`Program Debug Tools .................................... 19
`Trace Mode ........................................... 19
`Single-Step Mode ................................... 20
`Simulating Analog Input Channel Voltages .. 21
`Simulating 1/0 Activation .............•........... 21
`Programming Error Responses . . . . . . . . . . . . . . . . . 23
`Error Handling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
`Enabling Error Checking .......................... 25
`Defining the Error Program ....................... 25
`Canceling the Branch to the Error Program . . 25
`Error Program Set-up Example .................. 26
`Sample Programs Provided ............................ 27
`
`Programming Guide
`
`1
`
`RGBINSP0000171 0
`CONFIDENTIAL
`
`

`

`Motion Architect®
`
`Every 6000 Series controller is shipped with Motion Architect, a Windowsncbased programming
`tool designed to simplify your programming efforts. The standard Motion Architect shell contains
`the following modules:
`• System Configurator and Code Generator: Automatically generate controller code for basic
`system set-up parameters (1/0 definitions, encoder operations, etc.).
`• Program Editor: Create blocks or lines of 6000 controller code, or copy portions of code from
`previous files. You can save program editor files for later use in BASIC, C, etc., or in the terminal
`emulator or test panel.
`• Terminal Emulator: Communicating directly with the 6000 controller, the terminal emulator
`allows you to type in and execute controller code and transfer code files to and from the 6000
`controller.
`• Test Panel and Program Tester: You can create your own test panel to run your programs and
`check the activity of 1/0. motion, system status, etc. This can be invaluable during start-ups and
`when fme tuning machine performance.
`• On-Une Context-sensitive Help and Command Reference: These on-line resources provide
`help information about Motion Architect, as well as interactive access to the contents of the
`6000 Series Software Reference Guide, the document you are reading right now.
`
`Add-on modules for Motion Architect are available to aide in other programming and set-up tasks.
`These modules are available through your local Automation Technology Center.
`• Servo TunerTM: Tune your servo controller and the attached servo drives and receive instant
`data feedback on customizable displays.
`• CompuCAMTM: CompuCAM allows you to import 2D geometry from CAD programs (DXF), plotter
`files (HP-GL], or NC programs (G-Code), and then translate the geometry into 6000 motion
`programs. These programs can be further edited in Motion Architect's Program Editor module
`and dowloaded to the 6000 controller from the Terminal Emulator or Test Panel modules.
`
`For details on using Motion Architect, refer to the Motion Architect User Guide.
`
`Command Syntax
`
`Overview
`The 6000 Sertes proVides high-level constructs as well as basic motion control building blocks.
`The language comprises simple ASCll mnemonic commands, with each command separated by a
`command delimiter. Upon receiving a command followed by a command delimiter, the command is
`placed in the 6000 Series controller's internal command queue. Here the command is executed in
`the order in which it is received. The command may be specified as immediate by placing an
`optional exclamation point ( ! ) in front of the command. When a command is specified as an
`immediate command. it is placed at the front of the command queue, where it is executed
`immediately.
`
`The command delimiter can be one of three characters. a carriage return (<cr>). a line-feed (<lf>),
`or a colon(:). The space ( <sp>) character is used as a neutral character within a command.
`Comments can be specified with the semicolon ( ; ) character. All characters following the
`semicolon until the command delimiter are considered program comments
`
`2
`
`6000 Series Software Reference Guide
`
`•
`
`RGBINSP00001711
`CONFIDENTIAL
`
`

`

`•
`
`There is no case sensitivity with the command language. For instance, the command TSTAT is the
`same as the command tstat.
`
`Some commands contain one or more data fields in which you can enter numeric or binary values or
`text. The A command (syntax: A<r>, <r>, <r>, <r>) is an example of a command that requires you to
`enter numeric values (e.g., AS, 6, 7, 8 command assigns acceleration values of 5, 6, 7, and 8 units/sec2
`to axes #1, #2, #3, and #4 respectively) The DRIVE command (syntax: DRIVE<b><b><b><b>) is an
`example of a command that requires binary values (e.g., DRIVE1100 command enables drives # 1 and
`#2 and disables drives #3 and #4). The STARTP command (syntax: STARTP<t>) is an example of a
`command that requires text (e.g., STARTP powrup command assigns the program called "powrup" as
`the start-up program).
`
`Description of Syntax Letters and Symbols
`The command descriptions provided within this manual use alphabetic letters and ASCII symbols
`within the Syntax description (see example below) to represent different parameter requirements.
`
`IN EN
`Type
`+ Syntax
`Units
`Range
`Default
`Response
`See Also
`
`Letter/Symbol
`a
`
`b
`
`c
`
`d
`
`i
`
`r
`
`t
`
`@
`
`< >
`
`Input Enable
`Inputs or Program Debug Tools
`<!>INEN<d><d><d> ... <d>
`d = 0, l, E, or X
`0 = off, 1 = on, E = enable, X = don't care
`E
`INEN:
`(IN],
`
`*INENEEEE_EEEE_EEEE_EEEE_EEEE_EEEE_EEEE
`INFEN,
`INFNC,
`INLVL,
`INPLC,
`INSTW, TIN
`
`Product
`AT6400
`AT6n50
`615n
`620n
`625n
`6270
`
`Rev
`1.0
`1.0
`1.0
`1.0
`1.0
`1.0
`
`Description
`Represents an axis specifier, numeric value from 1 to 4 (used only to elicit a response from the indexer)
`Represen1s the values 1,0, x or x; does not require field separator between values.
`Represents a character {A to z, or a to z)
`Represen1s the values 1,0, x or x, E or e : does not require field separator between values. E or e enables
`a specific command field. x or x leaves the specific command field unchanged or ignored.
`Represents a numeric value that cannot contain a decimal point (integer values only). The numeric range
`varies by command. Field separator required.
`Represen1s a numeric value that may contain a decimal point, but is not required to have a decimal point
`The numeric range varies by command. Field separator required.
`
`Represen1s a string of alpha numeric characters from 1 to 6 characters in length. The string must start with
`a alpha character.
`Aepresen1s an immediate command. Changes a buffered command to an immediate command.
`Immediate commands are processed immediately, even before previously entered buffered commands.
`Represen1s a field separator. Commands with the symbol r or i in their Syntax description require field
`separators. Commands with the symbol b or din their Syntax description do not require field separators
`(but they may be included). See General Guidelines below for more information.
`Aepresen1s a global specifier, where only one field need be entered. Applicable to all commands with
`multiple command fields. (e.g., @Vl sets velocity on all axes to 1 rps)
`Indicates that the item contained within the < > is optional, not required by that command. NOTE: Do not
`confuse With <cr>, <sp>, and <lf>, which refer to the ASCII characters corresponding to a carriage
`return, space, and line feed, respectively.
`Indicates that the command between the [ J must be used in conjunction with another command, and
`cannot be used by itself.
`
`The ASCII character b can also be used within a command to precede a binary number. When the b is used in this context, it is
`not to be replaced with a 0. 1, x, or x. Examples are assignments such as VARBhbl0001, and comparisons such as
`IF ( IN=bl001Xl).
`
`Comparison and Assignment Syntax
`When making assignments with or comparisons against binary or hexadecimal values, you must
`precede the binary value with the letter b or B, and the hex value with h or H. Examples: IF ( IN=bll01)
`and IF(IN=h7F). Refer also to the Binary and Hexadecimal Values section discussed later.
`
`•
`
`•
`
`Programming Guide
`
`3
`
`RGBINSP00001712
`CONFIDENTIAL
`
`

`

`Operator Symbols
`The 6000 Series Language allows you to include special operator symbols. (e.g .. +, I. &. '. >=.etc.) in
`the command's syntax to perform bitwise, mathematical, relational, and other special functions.
`These operators are described in detail, along with programming examples. at the beginning of the
`Command Descriptions section of this reference guide.
`
`General Guidelines for Syntax
`Guideline
`Guideline Topic
`Using neutral characters anywhere within a
`