Rockwell-automation GMLC Reference Manual Manual de usuario Pagina 518
- Pagina / 958
- Tabla de contenidos
- MARCADORES
Valorado. / 5. Basado en revisión del cliente
Publication GMLC-5.2 - November 1999
481
There are 42 separate soft registration position variables, one for each of
the four physical axes, the two virtual axes, and the imaginary axis. For
example, the actual position of Axis 3 is stored in Soft_Reg_Pos_
Axis3_AXIS1, when a registration event occurs on Axis 1. The command
position of the imaginary axis is stored in Soft_Reg_Pos_ Imag_AXIS3
when a registration event occurs on Axis 3, etc.
Since the Soft_Reg_Posx.x variables are sampled at the servo update rate
rather than directly in hardware, soft registration is not as accurate as hard
registration. The position uncertainty of the Soft_Reg_Posx.x variable for
an axis is the product of the time between servo updates and the axis
speed. Use the formula below to calculate the uncertainty in the software
registration position:
In the following example, assume a servo update rate of 500 Hz. If Axis 1
is moving at a speed of 2 meters per second and a registration event
occurs on Axis 3, the uncertainty of the Soft_Reg_Pos_Axis1_AXIS3
variable is:
[]
Hz Rate UpdateServo
Second
itsPositon Un
Speed Axis
yUncertaintPosition onRegistratiSoft
=
mm4m004.0
500
Second
Meters
2
UncrtaintyPosition onRegistratiSoft
===
- GML Commander 1
- Important User Information 2
- European Communities (EC) 3
- Directive Compliance 3
- Preface 4
- Table of Contents iii 6
- Table of Contents v 8
- Table of Contents vii 10
- Chapter 10 – Motion Blocks 12
- ..............246 14
- ...........247 14
- Table of Contents xiii 16
- Chapter 14 – Status Blocks 18
- Chapter 15 – AxisLink Blocks 18
- Chapter 16 – RIO Blocks 18
- Chapter 17 – CNET Blocks 19
- Chapter 18 – DH-485 Blocks 19
- Chapter 19 – SLC Blocks 20
- Table of Contents xix 22
- Table of Contents xxi 24
- Chapter 28 – Fault Variables 25
- Table of Contents xxiii 26
- Chapter 29 – Status Variables 27
- Table of Contents xxv 28
- Table of Contents xxvii 30
- Table of Contents xxix 32
- Chapter 40 – Going Online 34
- Chapter 41 – CPU Utilization 35
- Appendix C – ASCII Reference 36
- Prerequisite Knowledge 38
- Who Should Use this Manual 39
- Purpose of this Manual 39
- Where to Find Help 39
- Using the Manual Set 40
- Using Online Help 40
- Related Documentation 41
- Glossary 42
- Contents of this Manual 43
- Rockwell Automation Support 47
- 12 Preface 49
- GML Commander Overview 50
- How it Works 51
- Understanding Your Workspace 51
- 16 GML Commander Overview 53
- 18 GML Commander Overview 55
- Understanding the Tag Window 56
- Script Editor Window 57
- Understanding Your Tools 58
- Main Toolbar 59
- Diagrams and Blocks 60
- Block Palettes 60
- Color Code for Blocks 60
- Testing Your Diagram 61
- Naming a Block 62
- Naming a Module 62
- Printing 63
- Printing a Diagram 64
- Diagram Scaling 64
- 28 GML Commander Overview 65
- Configuring Control Options 66
- Setting Control Options 68
- Setting the Axes 72
- Setting the Flex I/O 76
- Defining Flex I/O 77
- Setting the Flex I/O 41 78
- Configuring the RIO 84
- Configuring Axis Use 96
- 60 Configuring Axis Use 97
- Physical Axis 99
- Axis Type 100
- Position Mode 100
- Drive Interface Module Axis 100
- Defining Units 101
- Defining Feedback 102
- Transducer Resolution 103
- Unwind Constant 104
- Unwind Fraction 105
- Unwind Reference Point 105
- Encoder Filter 106
- Defining Position 107
- Velocity Profile 108
- Jerk Accel 109
- Velocity 109
- Defining Position 73 110
- Parabolic 111
- Lock Tolerance 112
- Backlash 112
- Defining Homing 113
- Position 114
- Procedure 114
- Active Homing 115
- Homing to a Limit Switch 115
- Homing to an Encoder Marker 116
- Direction 116
- Absolute Homing 117
- Passive Homing 118
- Defining Overtravel 119
- Hard Travel Limits 120
- Limit Switches 120
- Soft Travel Limits 120
- Maximum Positive 120
- Defining Servo 121
- Velocity Axis 122
- Drive Fault Input 122
- Defining Motor/Drive 123
- Motor ID 124
- 88 Configuring Axis Use 125
- Velocity Limit (RPM) 126
- Torque Limit(% Rated) 126
- Defining Fault Action 127
- Disable Drive: 128
- Stop Motion: 128
- Status Only: 128
- Hard Overtravel 129
- Soft Overtravel 129
- Position Error 129
- Verifying Hookups 130
- 94 Configuring Axis Use 131
- Test Increment 132
- Motor/Encoder Test 132
- Transducer Polarity 133
- Control Output Polarity 133
- Marker Test 133
- Align Absolute Device 134
- Drive Offset 135
- The Drive Offset Test 135
- Pulse Magnitude 136
- Pulse Duration 136
- Pulse Type 136
- Battery Box Test 137
- Tune Servo 138
- 102 Configuring Axis Use 139
- Tune Servo 103 140
- Tuning Your Compact 141
- Tune Servo 105 142
- Tuning Your Integrated/Basic 143
- Defining Gains 144
- Proportional Gain 145
- Integral Gain 146
- Velocity Feedforward Gain 146
- Velocity Gain 146
- Velocity P Gain 146
- Velocity Filter Bandwidth 146
- Deadband Compensation 147
- Adjusting Gains 148
- 112 Configuring Axis Use 149
- Running your Program 151
- Defining Dynamics 152
- Maximum Speed 153
- Maximum Acceleration 153
- Maximum Deceleration 153
- Error Tolerance 153
- Adjusting Dynamics 154
- 118 Configuring Axis Use 155
- 120 Configuring Axis Use 157
- Controller Icon 158
- Upload button 158
- Download button 158
- 122 Configuring Axis Use 159
- Using the Imaginary Axis 160
- 124 Using the Imaginary Axis 161
- 126 Using the Imaginary Axis 163
- Imaginary Axis Applications 164
- 128 Using the Imaginary Axis 165
- 130 Using the Imaginary Axis 167
- 132 Using the Imaginary Axis 169
- 134 Using the Imaginary Axis 171
- Working with Blocks 172
- The Function Block Palettes 173
- Manipulating Blocks 174
- Connecting B 175
- Moving Blocks 176
- Showing the Connection Lines 176
- Disconnecting Blocks 176
- 140 Working with Blocks 177
- Selecting All 178
- Copying a Block 178
- Swapping Blocks 179
- Aligning Blocks 180
- Spacing Blocks 181
- Snapping to the Grid 182
- Accessing Block Information 182
- Accessing from the Edit menu 183
- • Calculation blocks 184
- • Miscellaneous blocks 184
- 148 Working with Blocks 185
- Working with Diagrams 186
- 150 Working with Diagrams 187
- Creating a Diagram 151 188
- 152 Working with Diagrams 189
- Documenting Your Diagram 191
- Diagram Title Page 191
- Testing Diagrams 192
- 156 Working with Diagrams 193
- Accessing the Online Manager 194
- Inserting a Breakpoint 195
- Working With Modules 196
- Using the Diagram Explorer 197
- Creating a Module 161 198
- Encapsulating Blocks 199
- Recursive Duplicate Modules 200
- Unencapsulating the Module 201
- Collapsing Modules 203
- Splitting the Diagram Window 205
- Displaying Module Information 207
- Documenting a Module 207
- Documenting a Module 171 208
- 172 Working With Modules 209
- Working with Program Scripts 210
- Editing a Script 212
- Control Setting Blocks 214
- Feedback 215
- Motion Settings 216
- Unit Settings 217
- Using the Servo Output Limit 217
- Setting the Motion Profile 218
- Setting the Maximum Speed 218
- Change Gain 219
- Direct Drive Control 220
- Reset Fault 221
- Reset Fault 185 222
- Redefine Position 223
- Relative Mode 224
- Actual Position 224
- Command Position 225
- Control Settings 226
- Working Values 227
- Tag Explorer 228
- Tag Window 228
- Data Parameters 228
- Data Bits 228
- 192 Control Setting Blocks 229
- Motion Blocks 230
- Home Axis 232
- Configured Homing 233
- Wait for Completion 234
- Synchronized Homing 234
- Move Axis 235
- Move Axis 199 236
- Absolute Moves 237
- Incremental Moves 238
- Phase Shift Moves 239
- Move Axis 203 240
- Rotary Shortest Path Moves 241
- Move Axis 205 242
- Rotary Positive Moves 243
- Rotary Negative Moves 243
- Override Profile 244
- Merged Moves 244
- Synchronizing Moves 245
- Jog Axis 246
- Merged Jogs 247
- Gear Axes 248
- Virtual Master Axes Gearing 249
- Imaginary Axis Gearing 249
- Slaving to Actual Position 249
- Slaving to Command Position 250
- Same Direction Gearing 251
- Opposite Direction Gearing 251
- Set Ratio 252
- Ramping to Master Speed 253
- Gear Axes 217 254
- Using the Gear Axes Block 255
- Moving While Gearing 256
- Interpolate Axes 257
- Interpolators 258
- Linear Interpolation 259
- Interpolate Axes 223 260
- Timed Linear Interpolation 261
- Interpolate Axes 225 262
- 226 Motion Blocks 263
- Interpolate Axes 227 264
- Bad Arcs 265
- 230 Motion Blocks 267
- Interpolate Axes 231 268
- 232 Motion Blocks 269
- Full Circles 270
- 234 Motion Blocks 271
- Helical Interpolation 272
- 236 Motion Blocks 273
- Interpolate Axes 237 274
- 238 Motion Blocks 275
- Merging Interpolated Motion 276
- 240 Motion Blocks 277
- Change Dynamics 280
- Analog Offset 281
- Analog Input Scalar = 282
- mode, the motor transducer 283
- Configure Cam 284
- Cam Start and End Points 285
- Configuring Time Lock Cams 286
- 250 Motion Blocks 287
- Configure Cam 251 288
- 252 Motion Blocks 289
- Configure Cam 253 290
- 254 Motion Blocks 291
- Absolute Auto-Correction 292
- 256 Motion Blocks 293
- Absolute (Target) Position 294
- Tolerance 294
- 258 Motion Blocks 295
- Relative Auto-Correction 296
- 260 Motion Blocks 297
- Nominal Length 298
- Last Registration 299
- 264 Motion Blocks 301
- Master Axis 303
- Registering Axis 303
- Auto-Correction Speed 304
- 268 Motion Blocks 305
- No-Correction Zone 306
- Time Lock CAM 307
- Positive Direction 308
- Negative Direction 308
- Merge from Jog 309
- Scaling Time Lock Cams 310
- Position Lock CAM 311
- Virtual Master Axes 313
- Position Lock CAM 277 314
- Master Reference Position 315
- Position Lock CAM 279 316
- 280 Motion Blocks 317
- Scaling Position-Lock Cams 318
- 282 Motion Blocks 319
- Moving While Camming 320
- Disable Position Lock CAM 321
- Disable Gearing 322
- Stop Motion 322
- Kill Control 323
- Stopping All Motion 324
- 288 Motion Blocks 325
- I/O and Event Blocks 326
- Output CAM 328
- 292 I/O and Event Blocks 329
- Camming to the Imaginary Axis 330
- Camming to Actual Position 330
- Camming to Command Position 330
- Defining the Window 331
- Actuation Delay 332
- 296 I/O and Event Blocks 333
- Require OFF to ON Transition 335
- Require ON to OFF Transition 335
- Input Class 336
- If Axis and Multitasking 337
- Program Pauses 339
- Until This Point 339
- AxisLinked 341
- Decelerated 341
- Decelerating 342
- Feedback On 343
- Gearing Off 343
- Gearing On 344
- Gearing Opposite 344
- Homing / Homing Done 344
- Jogging/Jogging Done 345
- Merge Pending / Merging Done 347
- Moving / Moving Done 347
- Output Limited 348
- Watch Control 349
- Watch Control 313 350
- Wait for Tripped 351
- Windowed Registration 352
- Auto Rearm Input 354
- Registration on Virtual Axes 354
- Disarm Registration 355
- Watch Control 319 356
- Event Action Computations 357
- Watch Control 321 358
- On Watch 359
- If Position Event 360
- Wait for Registration 360
- Set Timer 361
- On Timeout 362
- If Axis Fault 363
- Repeat Loop 365
- Program Control Blocks 366
- Restart Type 367
- When Restart Type 367
- Restart Program 331 368
- End Program 369
- When End or Fault Type 370
- Runtime Faults 371
- Global Faults 372
- 336 Program Control Blocks 373
- End Program 337 374
- 338 Program Control Blocks 375
- End Program 339 376
- 340 Program Control Blocks 377
- Multitasking Blocks 378
- Multitasking Operation 379
- Task Control 379
- Start New Task 380
- 344 Multitasking Blocks 381
- Stop Current Task 382
- Stop Other Task 383
- Resume Task 383
- Stop Dispatcher 383
- Restart Dispatcher 384
- Wait for Task 385
- Status Blocks 386
- Show Axis Position 387
- Show Axis Status 387
- (I) axes 388
- Show Input Status 389
- Configured 390
- Miscellaneous 390
- Show Program Status 391
- Specific Task Status 392
- Runtime Fault Status 392
- Show Firmware ID 392
- Show Memory Status 393
- Setup Data 394
- Application Program 394
- Program Size 394
- 358 Status Blocks 395
- AxisLink Blocks 396
- Virtual Axis Control 397
- Read Remote Value 398
- Reset AxisLink Fault 399
- Reset AxisLink Fault 363 400
- 364 AxisLink Blocks 401
- RIO Blocks 402
- Show RIO Status 403
- Wait for RIO Status 404
- If RIO Status 404
- RIO Status Conditions 405
- Wait for RIO Block Transfer 406
- If RIO Block Transfer 407
- Auto RIO Update 408
- Auto Binary Numeric Format 409
- Auto RIO Update 373 410
- PLC I:046/00 (RIO output 68) 411
- Fixed Binary Numeric Format 413
- Auto BCD Numeric Format 414
- Reset RIO 418
- 382 RIO Blocks 419
- CNET Blocks 420
- Wait for CNET Status Type 421
- Show CNET Status 422
- Reset CNET 423
- DH-485 Blocks 424
- Show DH-485 Status 425
- DH-485 Value 426
- Send Type 427
- Using Bit Masks 428
- Multiple Variables 429
- Wait for Message Complete 430
- DH-485 Message Details 430
- On DH-485 Status 431
- If DH-485 432
- Wait for DH-485 432
- Reset DH-485 Fault 433
- SLC Blocks 434
- On SLC Status 435
- Interrupt SLC 436
- 400 SLC Blocks 437
- Calculation Blocks 438
- Equation 439
- Master CAM Time type 440
- Indirect Variable 441
- Inhibiting Resampling 441
- On Expression 442
- Build Table 442
- field in both blocks 443
- Building CAM Time Profiles 444
- Building Variable Arrays 444
- Starting Offset 444
- 408 Calculation Blocks 445
- Print to Display 447
- Force to Port 448
- Suppress Auto CR/LF 448
- Selecting the Display 448
- ASCII Text 449
- ASCII Code 449
- Expression 450
- Formatted Expression 450
- Edit Value 451
- Value Display Format 452
- Toggle Choice 453
- Entering Choices 455
- Editing the Choices 455
- Abort Editing 456
- Refresh Display 456
- Key Input Control 457
- On Key Press 458
- Wait for Key 459
- Checking for Any Key 460
- Waiting for Any Key 460
- Checking for a Specific Key 460
- Waiting for a Specific Key 461
- Checking for ASCII Code 461
- Waiting for ASCII Code 461
- Configure Auto Display 462
- Field Legends 463
- Miscellaneous Blocks 468
- Native Code 469
- New Module 469
- Call Module 470
- Remote Control 471
- Multidrop 472
- Remote Controller Address 473
- Expression to Query 473
- Response Format 473
- Specifying the Serial Port 474
- Destination Page 474
- 438 Miscellaneous Blocks 475
- Creating Flex I/O Values 485
- User Variables and Constants 494
- The Expression Builder 496
- The Numeric Keypad 497
- Precedence 498
- Expression Operators 499
- Mathematical Operators 500
- Subtraction 501
- Multiplication * 501
- Division / 501
- // Integer Quotient 502
- Logical Operators 503
- Bitwise NOT ~ 504
- Bitwise AND & 504
- Bitwise OR 505
- && 506
- Relational Operators 507
- Equal to = 508
- Not Equal to ! 508
- Greater Than > 509
- Less Than < 509
- System Variables 510
- 474 The Expression Builder 511
- Motion Variables 512
- Strobed Position 515
- Registration Position 516
- 480 Motion Variables 517
- Marker Distance 519
- Distance To Go 520
- Deceleration Distance 520
- Encoder Filter Lag 521
- Watch Position 521
- Average Velocity 522
- Command Velocity 523
- Servo Output Level 523
- Analog Offset Setpoint 523
- Analog Offset Error 524
- PCAM Registration Error 525
- PCAM Good Registration Count 528
- 492 Motion Variables 529
- Bad Registration Count 530
- Axis Iq Reference 1394 531
- Axis It Limit 1394 532
- Axis Velocity Command 1394 532
- Axis Torque Command 1394 532
- 496 Motion Variables 533
- Controller Variables 534
- Analog Inputs 535
- Free Running Clock 535
- Last Keypress (Character) 536
- Current Task 536
- CPU Utilization 537
- CPU Utilization Peak 537
- Controller Address 537
- AxisLink Configuration Nodes 539
- Fault Variables 540
- Global Fault 542
- CNET Fault 543
- CPU Utilization Overrun Fault 544
- Feedback Device Fault 544
- Flex Fault 545
- SLC Fault 545
- DH-485 General Fault 546
- RIO Fault 546
- AxisLink Timeout Fault 547
- AxisLink General Fault 547
- Setup Data Memory Fault 547
- Axis Global Faults 548
- Axis Fault 549
- AxisLink Timeout 549
- AxisLink Failed 550
- 514 Fault Variables 551
- Position Error Fault 552
- Hardware Overtravel Fault 554
- 518 Fault Variables 555
- Software Overtravel Fault 556
- Encoder Noise Fault 558
- Encoder Loss Fault 559
- Flex Fault 561
- Flex Fault Code 561
- AxisLink Fault Code 562
- Timeout Accessing Data 565
- Runtime Fault 566
- Stack Fault 568
- Fault Ring Error 1394 570
- Commission Error 1394 571
- DSP Error 1394 572
- Flex I/O Missing or Failed 573
- 538 Fault Variables 575
- No Tasks Running 576
- Illegal Direct Command 577
- 542 Fault Variables 579
- RIO Fault Code 580
- Initialization Failure 581
- Setup Failure 581
- Failed Getting Inputs 582
- Failed Sending Outputs 582
- Scanner Failure 582
- CNET Fault Code 583
- Plug Fault 584
- Media Fault 585
- DH-485 Fault Code 587
- Command Failed 588
- DSP Feedback Fault 1394 589
- SLC Fault Code 590
- Resolver Loss Fault 1394 590
- Drive Hard Fault 1394 591
- Axis Module Hard Fault 1394 591
- System Module Hard Fault 1394 592
- Axis Power Fault 1394 593
- Axis Bus Loss Fault 1394 594
- 558 Fault Variables 595
- Axis It Fault 1394 597
- 562 Fault Variables 599
- System Over Temp Fault 1394 600
- 564 Fault Variables 601
- System Phase Loss Fault 1394 602
- System Ground Fault 1394 603
- 568 Fault Variables 605
- Status Variables 606
- Axis Status 608
- Acceleration Status 610
- Deceleration Status 610
- Feedback Status 611
- Homing Status 612
- Jog Status 612
- Lock Status 613
- Move Status 614
- Gearing Status 615
- Registration Status 615
- Time Lock Cam Status 616
- Position Lock Cam Status 617
- Watch Position Status 619
- Output Limit Status 620
- AxisLink Status 621
- Interpolator Status 622
- Interpolator Merging Status 623
- System Bus Up 1394 623
- Status LEDs 624
- Program Status 625
- RIO Status 625
- CNET Status 625
- SLC Status 627
- SLC_MO_Update_Acknowledge 627
- SLC MO Update Request 627
- SLC M1 Update Acknowledge 628
- SLC M1 Update Request 628
- DH-485 Status 628
- Axis I Limit Status 1394 629
- Axis It Limit Status 1394 629
- Axis Module Fault Status 1394 631
- 596 Status Variables 633
- Diagnostic Variables 634
- Analog Test Output 1 1394 635
- Axis Count 1394 636
- System kw 1394 636
- System Rated Current 1394 636
- Axis kw 1394 637
- Axis Rated Current 1394 637
- Axis Bridge I Limit 1394 637
- Axis Current Scaling 1394 637
- 602 Diagnostic Variables 639
- System Functions 640
- Motion Controller Functions 641
- Indirect DH-485 Variable 644
- RIO Adapter Variable 647
- RIO Scanner Variable 648
- Task Status 648
- Miscellaneous Inputs 650
- Axis Input 651
- RIO Input 652
- RIO Scanner Input 653
- SLC Bit Input 654
- AxisLink Input 654
- Flex I/O Input 655
- Flex I/O Analog Input 655
- Group Input 656
- Optional Masks 657
- RIO Group Input 658
- RIO Scanner Group Input 659
- SLC Bit Group Input 659
- AxisLink Group Input 660
- Flex I/O Group Input 661
- Axis Output 662
- RIO Output 663
- RIO Scanner Output 664
- SLC Bit Output 664
- AxisLink Output 665
- Flex I/O Output 665
- Flex I/O Analog Output 666
- Get Firmware 667
- Group Output 667
- RIO Group Output 668
- RIO Scanner Group Output 668
- SLC Bit Group Output 669
- AxisLink Group Output 670
- Flex I/O Group Output 670
- Flex I/O Module Type 671
- Master Cam Position 672
- Master Cam Time 673
- Slave Cam Position 673
- 638 System Functions 675
- Mathematical Functions 676
- Argument 677
- Argument–1 678
- 644 Mathematical Functions 681
- 646 Mathematical Functions 683
- Round Up 684
- Round Down 685
- Integer Value 686
- Exponent 687
- Natural Logarithm 688
- Square Root 690
- 654 Mathematical Functions 691
- Using AxisLink 692
- Getting Started 693
- Connecting the AxisLink Cable 694
- 658 Using AxisLink 695
- Configuring Virtual Axes 696
- 660 Using AxisLink 697
- Configuring Virtual Axes 661 698
- Using Virtual Axes 699
- Using Virtual Axes 663 700
- Homing Virtual Axes 701
- Virtual Axis System Variables 703
- Using AxisLink I/O 704
- AxisLink Inputs 705
- Defining AxisLink Inputs 706
- Reading Values via AxisLink 707
- Handling Faults 709
- Virtual Axis Faults 710
- AxisLink General Faults 711
- Handling Faults 675 712
- 676 Using AxisLink 713
- Handling Faults 677 714
- 678 Using AxisLink 715
- Performance Considerations 716
- 680 Using AxisLink 717
- Using the RIO Adapter Option 718
- Block Transfers 719
- IMC S Class RIO Adapter 721
- Configuring the RIO Adapter 723
- Enabling RIO in GML Commander 723
- Homing Axes 725
- Jogging Axes 727
- Axis Locked 736
- Application Program Running 738
- Using Block Transfers 739
- First Data Item 750
- Number and Format of Items 751
- 32-bit Integer Format 752
- (Number of Decimal Digits) 753
- 16-bit Integer Format 758
- 32-bit Signed BCD Format 762
- 32-bit Floating Point Format 766
- Fault and Status Codes 786
- Configuring ControlNet (CNET) 790
- Defining Inputs and Outputs 792
- Defining Input Bits 794
- Defining Input Floats 795
- Defining Input Group Bits 797
- Defining Local Variables 798
- Defining Output Bits 800
- Defining Output Floats 801
- Defining Output Group Bits 803
- Fault Handling 805
- 1394 GMC Turbo SLC Interface 806
- Rack Configurations 807
- Understanding M Files 830
- Types of M Files 831
- Transfer Modes 831
- Manual Mode 832
- Understanding M Files 797 834
- Enabling M File Transfers 836
- Understanding M Files 801 838
- Interrupts 840
- GML Commander Program 841
- SLC Program 842
- Initializing the Hardware 844
- Initializing the Hardware 809 846
- Initializing the Software 847
- Initializing the Software 811 848
- Initializing the Software 813 850
- Cams, or Interpolated Motion 856
- Interpolated Motion 857
- Interpolated Motion 821 858
- Interpolated Motion 823 860
- Merge From Jog, CAM, or Gear 862
- Going Online 866
- Accessing Your Controller 869
- Running a Program 871
- Pausing a Program 872
- Stopping a Program 873
- Run Program on Power-up 873
- Monitoring Program Flow 874
- Using Trace 875
- Using Auto Step 876
- Using Single Step 876
- Setting a Breakpoint 877
- Clear Breakpoints 878
- 842 Going Online 879
- Upload Options 881
- Upload Options 845 882
- 846 Going Online 883
- Upload Options 847 884
- Options 885
- Understanding CPU Utilization 887
- 852 CPU Utilization 889
- 854 CPU Utilization 891
- Memory Organization 892
- Application Memory 893
- Data Memory 893
- Working Memory 893
- 858 Memory Organization 895
- Appendix 896
- Data Parameters Table 897
- D14 Position Units D29.D30 0 899
- D97 Revs 0.2 0 904
- D7 Volts 5.4 0 (Volts) 904
- Data Bits Table 908
- Main Palette Blocks 877 914
- Main Palette Blocks 879 916
- Advanced Palette Blocks 918
- Advanced Palette Blocks 883 920
- CAM Palette Blocks 921
- DH-485 Palette Blocks 922
- RIO Palette Blocks 922
- SLC Palette Blocks 924
- ASCII Reference 926
- ASCII Printing Characters 928
- 892 ASCII Reference 929
- Analog offset error 487 930
- Analog test output 0 1394 597 930
- 894 Index 931
- Index 895 932
- 896 Index 933
- Lock Tolerance 75 934
- 898 Index 935
- Index 899 936
- 900 Index 937
- Index 901 938
- 902 Index 939
- Index 903 940
- 904 Index 941
- Index 905 942
- 906 Index 943
- Index 907 944
- Change Dynamics 243 945
- Analog offset setpoint 486 946
- 910 Index 947
- Index 911 948
- 912 Index 949
- Index 913 950
- 914 Index 951
- Index 915 952
- 916 Index 953
- Index 917 954
- 918 Index 955
- Index 919 956
- 920 Index 957
- Back Cover 958
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