Motion Toolbox”
`
`User.Guide
`
`A Library of LabVlEW
`Virtuai Instruments
`for Motion Control
`
`Developed by Snider Consultanfs, Inc.
`
`compumotor Division
`Parker Hannifin Corporation
`pin 884113929-01 A
`
`ABB Inc.
`
`EXHIBIT 1015
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`Page 1 of 113
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`Motion Toolbox" User Guide
`
`A Library of LabVIEW® Virtual Instruments
`for
`’
`
`Motion Control
`
`Version 1.0
`
`March 1994
`
`Part Number 88—013929—O1
`
`\% C g§
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`\.'.:,ium
`
`© Copyright 1994 Snider Consultants, Inc.
`All Rights Reserved.
`
`
`
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` {i‘§£§:";~':ra=~«~=-£—~'W~'*-"*.4::-g-\«~,~,;:-r‘r~—..»_,»
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`Warnings
`
`
`
`Because software controls machinery, test any software control for safety
`under all potential operating conditions. Failure to do so can result in damage
`to equipment and/or serious injury to personnel.
`
`
`i
`
`Ic,
`
`Limited Warranty
`
`
`
`.~..x..»~-e1,':‘.fis’;'.‘?.'‘‘t‘3,‘£‘ITr'ZT7'‘ri3‘‘'..J
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`Page 3 of 113
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`Compumotor warrants that the software will perform substantially in
`accordance with the accompanying material for a period of ninety (90) days
`from the date of receipt. Any implied warranties on the software are limited
`to ninety days. Some states do not allow limitations on duration of an implied
`warranty, so the above limitation may not apply to you.
`
`Compumotor's entire liability and your exclusive remedy shall be at
`Compumotor's option, either (a) return the price paid or (b) replacement of the
`software that does not meet Compumotor's Limited Warranty and that is
`returned to Compuznotor with a copy of your receipt. This limited warranty is
`void if failure of the software has resulted from accident, abuse, or
`misapplication. Any replacement of software will be warranted for the
`remainder of the original warranty period or thirty (30) days, whichever is
`longer.
`
`Compumotor disclaims all other warranties, either expressed or implied,
`including but not limited to implied warranties of merchantability and
`fitness for a particular purpose, with respect to the software and the
`accompanying written materials. This limited warranty gives you specific
`legal rights. You may have others which vary from state to state.
`
`In no event shall Compnmotor or its suppliers or distributors be liable for
`any damages whatsoever (including, without limitation, damages for loss
`of business profits, business interruption, loss of business information, or
`other pecuniary loss) arising out of the use or inability to use this
`Conzpinnotor product, even if Compnmotor has been advised of the
`possibility of such damages. Bewiwe some states do not allow the
`exclusion of limitation for liability for consequential or incidental damages,
`the above limitation may not apply to you.
`
`4.
`
`< c I
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`I
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`Copyright
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`Under copyright laws, this publication may not lie reproduced or transmitted in
`any form, electronic or mechanical, including photocopying, recording, storing
`in an information retrieval system, or translating, in whole or part, without the
`prior written consent of Snider Consultants, Inc.
`
`Trademarks
`
`
`1l
`2,
`l
`
`Motion Toolbox is a trademark of Snider Consultants, inc.
`
`Motion Architect is a registered trademark of Parker Hannifin Corporation,
`Coxnpumoror Division.
`
`LabVIEW is a registered trademark of National Instruments Corporation.
`
`Windows is a registered trademark of Microsoft Corporation.
`
`
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`Table of Contents
`
`
`
`Introduction...............
`.........
`..............................l
`Overview..........
`installation ..................................................
`.
`1
`
`Package Contents .. ...
`. ..............
`............ 1
`Software Requirements....
`.......................... 2
`Pre-Installation Procedure..........................
`2
`installation Procedure ....
`..............
`....
`3
`Motion Toolbox Registratlom...
`.....
`3
`
`.........
`..........
`...... 3
`Getting Started.........
`..........
`Related Publications .............................................................. 5
`Using Motion Toolbox
`Device Communication ............................................................. 7
`Common Vl inputs and Outputs...
`.........
`7
`Motion Toolbox Error Handling.....
`...........
`........ 9
`6000 Controller Error Handling
`......................
`.. 9
`Reducing Vl load Time.................................
`9
`imer Resolution.......
`...
`............. 10
`Vi Labeling Conventions
`........................... 10
`............
`Bold and Non-bold
`..1O
`Default Inputs ........................................................... 10
`Counter 8: Timer
`....
`Counter 8: Timer Vl Descriptions..................
`............ 11
`Start 6000 Timer..........
`........
`............ 11
`
`Stop 6000 Timer
`........... 12
`Configure Encoder input as Cou ter ............. ..
`12
`
`Reset 6000 Hardware Counter .................................... 13
`......315
`Configuration
`.................................... 15
`Configuration VI Descriptions
`.......... 15
`Set Motion Scaling Factors........ ..
`Set Path Scaling Factors ....o
`.......... 16
`Enable Scale Factors
`...........
`. 17
`Set Participating Axes ...................
`1 7
`Configure Command Control ..
`18
`Set Continuous/Preset Mode .................... ..
`19
`Set Absolute/Incremental Mode .......
`...... 19
`Set Drive Resolution ..................
`...........
`...... 20
`Set Drive Fault Level
`.........................
`Z0
`Enable Drive.....................
`.
`..............
`.
`. 21
`Configure Feedrate Override ..
`...........
`.. 22
`Enable Feedrate Override ...............................
`. 23
`Set Encoder Resolution .......
`..... 23
`.................
`Set Encoder/Motor Step Mode ..................................... 24
`
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`Configure Homing .................................................... .. 24
`Configure Position Maintenance ................................. .. 26
`Enable Position Maintenance ..................................... .. 27
`
`Configure Stall Detection ..... ..
`.. 2'.’
`................... .. 28
`Enable Stall Detection
`Set Pulse Width ....................................................... .. 29
`
`31
`
`
`
`Device Communication
`Device Communication ‘J! Deacriptions.....
`31
`Open AT64-00 .................... ..
`Open 6200..
`................................................... .. 32
`
`Close Device ........................................................... .. 33
`Set Default Addr/Port.
`33
`
`. . .. . . . . .. . . . . . . . .. 33
`Reset 6000 . .. . .. .
`Set Error Action ....... ..
`34
`Set Parameter Precision
`34
`Set AT6400 Polling Parameters
`........... .. 35
`Set 6200 Polling Parameters
`36
`Send 6000 Block .................................. ..
`36
`Receive 6000 Block .............................. ..
`37
`Query
`37
`...................................
`Download 6000 File...
`38
`Enable Communications Tracing ........................ ..
`V5 38
`Configure Communications Tracing
`39
`Delete Trace File ................................................ .. 40
`Command Snooper .................................................. .. 40
`
`
`
`
`
`......
`Fast Status Vls. .......
`......................................... .. 41
`Fast Status Vi Descriptions...
`Get Fast Status ............................................ .. 41
`Set Motor Pos Local Scallng.....
`.. 43
`Set Encoder Pos Local Scaling ..
`............ .. 43
`Set Velocity Local Scaling ...... ..
`44
`Motor Position Parse ................ ..
`.. 45
`Encoder Position Parse ............ ..
`.. 45
`Velocity Parse ................ ..
`.. 46
`Pas. Captured Status Parse .................... ..
`.. 47
`Command Error Parse ............................ ..
`.. 47
`Configuration Status Parse ..... ..
`48
`Encoder Feedback Status Parse ................................. .. 48
`Hard Limit Status Parse ............................................ .. 49
`Motion Status Parse ..........
`49
`Soft Limit Status Parse . . . . . .
`. . . . . .. 50
`System Status Parse
`..... .. 51
`Drive Status Parse ..................... ..
`. 52
`User Status Parse ......................................... ..
`53
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`Timer Status Parse ................................................... .. 53
`Analog Input Parse ..................................... .. 54
`Limit Input Status Parse..
`............................ .. 54
`Joystick Status Parse ........
`.
`. 55
`Digital Output Status Parse ..
`.......................... .. 56
`Other Input Parse ....................................... .. 56
`Digital Input Parse .................................................... .. 57
`
`
`
`’
`‘
`V’
`
`.
`‘
`*
`
`I10 8: Limit
`I/O & Limit VI Descriptions .................................................... .. 59
`Set 6000 Input Active Level ..
`.. 59
`Enable 6000 Inputs ............ ..
`60
`Set 6000 Input Function . . . . . . .
`...... .. 61
`Enabie 6000 Input Functions .... ..
`.. 62
`Set 6000 Input Debounce ‘lime ..
`.............. 62
`.............
`Set 6000 Output Active Level ..
`............................ .. 63
`Enable 6000 Outputs .. . . . . . . . . . . . .
`. .. .. 64
`Set 6000 Output Function . . . . . . .
`. . . . . . . . . . . . . . .. 64
`Enable 6000 Output Functions .
`.............. .. 65
`Set 6000 Output States ........ ..
`66
`Configure Hard Limits . . . . . .
`. .. .. 67
`Enabie Hard Limits ...................................... ..
`. 67
`Configure Soft Limits.
`.. 68
`Enable Soft Limits ............... ..
`.. 69
`Enabie Analog Input Override .............................. ..
`. 69
`Set Analog Input Override Voltage ...................... ..
`. 70
`Define 6000 User Status ............. ..
`71
`Enable 6000 User Status
`72
`
`
`
`.........
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`. . . .
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`~=-~2--~r~-'-~“=‘..,.».c,,;::f,£.~‘.::4”-”.P7”
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`Jogging & Joystick
`Jogging and Joystick VI Descriptions ...................................... .. 73
`Enable Jog Mode . . . . . . . . . . . . . . . . . .
`. . . . . .. 73
`Set Jog Velocity Low . .. . . . . . . . . .
`. .. . . .. 74
`Set Jog Velocity High ....... ..
`74
`Set Jog Acceleration
`75
`Set Jog Deceleration ......................... ..
`75
`Enable Joystick Mode ........................ ..
`76
`Set Joystick Velocity l.ow....
`76
`Set Joystick Velocity High ............ ..
`77
`Set Joystick Acceleration .............. ..
`77
`Set Joystick DeceIeration.....
`. .. 78
`
`Setup Joystick Electronics ....................... ..
`78
`Set Joystick Analog Inputs ....................... ..
`. 79
`Set Joystick Zero ..................................................... .. 80
`
`
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`Miscellaneous Vls
`Miscellaneous Vi Descriptions ............................................... .. 81
`Numeric Event ................................... ..
`81
`
`Boolean Event
`82
`Boolean Transition ................................................... .. 83
`
`Motion Vls
`Motion Vl Descriptions ......................................................... .. 85
`Initiate Motion....
`85
`Stop Motion....
`............... .. 86
`Kill Motion
`............... .. 87
`Set Velocity
`Set Acceleration .
`89
`Set Deceleratiun
`.. 89
`Set Direction
`90
`Go Home ....................................... ..
`.. 90
`Initiate Linear lnt. Motion ............................... ..
`.. 91
`Set Position ..................... ..
`.. 92
`Wait for Move Complete .......................... ..
`.. 92
`Run Path ............................................... ..
`.. 93
`Set Path Vel & Acc..
`Run Program ........................................................... .. 93
`
`
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`......................................
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`.3
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`....
`{P240 Display Vls . ....
`.......................................... ..95
`
`RP240 Vl Descriptions................................................. .. 95
`Write Text to RP240 ......... ..
`95
`
`Display Variable on RP240
`....... .. 96
`
`Set RP240 LED States .. . . . .
`. . . . . . . .. 96
`Clear RP240 Display
`.. 97
`Position RP240 Cursor...
`............................ 9']
`Enable RP240 Jog Mode
`.......................... 98
`Set RP24O
`99
`
`
`
`...... ..101
`Variable & Transfer VIs.. ..................................
`Variable 8: Transfer VI Descriptions ...................................... .. 101
`Set Numeric Van'able........
`.. 101
`Set Binary Variable.... .. ..
`................................. .. 102
`.
`Set Binary Variable by Byt
`................................. .. 102
`Set String Variable ........... ..
`.. 103
`Transfer Numeric Variable ....................... ..
`. 103
`Transfer Binary Variable .......................... ..
`. 104
`Transfer String Variable . .. . . . . . .
`. . . .. 104
`Transfer Captured Positions ....................... ..
`105
`Miscellaneous Transfers .......................................... .. 106
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`-anun.........u«.uua-u-.-oou.....au..........-o .... oucnruunoooo
`Motion Toolbox Error Codes
`...................................... ..107
`Technical Support .................... ..
`
`Compumotor Bulletin Board Service.
`Systems Integration and Consulting
`.................................... .. 108
`Motion Toolbox VI Index (alphabetic
`
`an
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`109
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`
`
`Introduction
`__________.__________
`
`Overview
`
`Motion Toolbox is a library of I.abVlEW Vls for Cornpumotor’s 6000 series
`of motion controllers. Motion Toolbox allows I.abVIEW programmers to
`develop motion control systems for a wide range of applications including
`automated test and manufacturing, medical and biotech, metering and
`dispensing, machine control, and laboratory automation. Motion Toolbox
`supports both the Cotnpumotor AT640O 4-Axis and 6200 2-Axis lndexers.
`Motion Toolbox provides developers with the following capabilities and more:
`0 Motion control including velocity, acceleration, deceleration, go, stop,
`kill. etc.
`Setup, control, and command file transfer
`Counter and timer configuration and control
`Indexer, encoder, and drive configuration
`Home, hardware limit, and soft limit configuration
`Jogging and joystick configuration
`I/O setup and function configuration
`Fast status querying of I/O, limit, home, motor and encoder position,
`velocity, etc.
`
`To use Motion Toolbox effectively, you should have a working knowledge of
`LabVIEW and have at least worked through the LabVIEW Tutorial manual.
`
`Installation
`
`Package Contents
`
`0 Motion Toolbox installation disks
`0 Motion Architect” installation disks
`0 Motion Toolbox Uxer Guide
`0 User registration card
`0
`License agreement
`
`Introduction
`
`7
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`Motion Toolbox User Guide
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`If any of these items are missing, please contact your local supplier or
`Compumotor's Customer Service Department at 800-358-9068 or 707-584»
`7558.
`
`Software Requirements
`0
`
`LabVIEW for Windows version 3.0. See the Required System
`Configuration in the Labl/IEWfor ‘Wrtdows Release Notes.
`Motion Architect version 2.2 or higher.
`If you are using an AT6400 Controller, you need software revision 2.2 or
`higher of the AT6400 operating system.
`if you are using a 6200 Controller, you need software revision 2.1 or
`higher of the 6200 system software.
`
`Pre—InstaIlation Procedure
`
`Install your 6000 Series controller as indicated in the Compumotor User
`Guide for your product.
`Install Motion Architect 2.2, if it is not already on your computer.
`Using Motion Architect, ensure the 6000 controller functions properly.
`For help, refer to the Motion Architect documentation shipped with your
`controller.
`
`02
`
`Copy the following files from your Motion Architect 2.2 (or higher)
`directory to your LabVIEW root directory.
`WIN6400.DLL
`METBRDLL
`AT6400.0PS
`
`Warning: Motion Toolbox cannot communicate with the AT6400
`controller without these files in the LabVIEW root directory.
`
`
`Warning: It is important that the some WIN6400.DLL, METER.DLL, and
`AT6400. OPS file: exist in both the Motion Architect directory and LabVIEW
`root directory. If zhefiles are not the same, conflicts may arise when using
`Motion Toolbox in the same Wndows session as Motion Architect. You should
`
`afways use the latest version ofthese files that are available.
`
`
`
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`Introduction
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`Installation Procedure
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`Motion Toolbox User Guide
`
`Motion Toolbox is distributed in compressed form on 3.5" floppy disks. A
`Windows setup program is provided to install the software on your hard drive.
`To install Motion Toolbox, complete the following steps:
`1. Start Windows.
`2. Place disk I of the Motion Toolbox installation disks in your 3.5” floppy
`drive.
`I
`3. From the Program Manager, choose File/Run.
`4. Type A:SE‘l'UP.EXE and select OK.
`If drive A is not your 35" drive,
`substitute A: with the appropriate drive letter.
`Follow the directions given by the setup program for the remainder of the
`installation.
`
`5.
`
`Motion Toolbox Registration
`
`To receive free technical support and update information, please fill out the
`postage paid software registration form and drop it in the mail.
`
`Getting Started
`
`The following steps will help you get started using Motion Toolbox.
`
`1.
`
`If you are not already familiar with LabVIEW, you should at least work
`through the LabVIEW tutorial manual.
`
`
`
`3. Become familiar with the Motion Architect software. The Motion
`Architect terminal program is an excellent utility for debugging 6000
`series controller applications. If you encounter problems using Motion
`Toolbox, use Motion Architect to verify your 6000 controller is functioning
`properly. See the description for the Download 6000 File V1 for more
`ways to use Motion Architect for application development.
`
`Introduction
`
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`Page 3
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`Motion Toolbox User Guide
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`4. Read the indexer user guide for your product. If you wish, you can skim
`the examples on programming the 6000 controller as Motion Toolbox will
`isolate you from most of these details.
`
`5. Read the,6000 Series Command Language Overview chapter in the 6000
`Series Sofitware Reference Guide. This will provide important information
`on system performance, 6000 inputs and outputs, and programming
`restrictions. Because Motion Toolbox essentially assembles 6000 series
`commands and sends them to the controller, you may want to read the
`commands related to your application in the 6000 Series Sofiware
`Reference Guide. Each VI description in this manual lists the applicable
`6000 commands related to the VI.
`
`6. Review the example and demonstration Vls included with Motion Toolbox.
`Study the diagrams to see how Motion Tooibox Vls are used. Try
`modifying and adding your own ideas to these examples to get a feel for
`programming with Motion Toolbox. Make sure to rename the example
`and demonstration Vls before modifying.
`
`
`
`Ii you accepted the default demo directory when installing Motion
`Toolbox, you will find the example and demonstration Vls located in
`MTDEMO off the LabV[EW' root directory.
`
`
`
`located in the
`a. Open the Simple Preset Motion. VI
`\LABVIEW\MTDEMO\EXAMPLES.LLB VI Library.
`b.
`If you have an AT6400, verify that the address setting in the VI
`diagram is the same as your installed AT6400.
`if you have a 6200, you
`must replace the Open AT6-‘£00 V1 with the Open 6200 VI and change the
`input address from 768 to the proper serial communications port (usually
`COM1 or COM2). Put the VI in Edit Mode (CTRL-M) to make these
`changes.
`c. Return to the front panel, the V1 is now ready to run. Press the Run
`button (arrow button).
`d. The V1 is now running. Enter a distance to travel and press the GO
`button on the front panel to initiate motion. The commanded distance is
`relative to an absolute counter in this case.
`In order for the motor to
`move, the value displayed in the distance control must differ from the
`current position indicated on the chart.
`e.
`If the motor does not move, consult the Getting Started Section of the
`Hardware Reference guide for your particular controller.
`
`
`
`'_
`
`
`
` #.{__¢
`Introduction
`Page 4
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`
`Related Publications
`
`0 AT6400 Indexer User Guide
`
`6200 Indexer User Guide
`
`
`
`
`
`
`
`
`
`
`
`
`
`
`6000 Series Saflware Reference Guide
`Motion Architect User Guzde
`Lab!/IEWfor Windows 3.0 documentation set
`LabV1'EWInstallation Notes
`Current Parker Compumotor Motion Control Catalog
`
`Page 14 lgf(;éI1N:;P00017957
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`Using Motion Toolbox
`..__.___.__._.___.__.____
`
`Device Communication
`
`Motion Toolbox
`con1muuications—based 6200. To commumcarc with the AT6400, Motion
`Toolbox calls low level DLL routines thro
`
`Using Motion Toolbox
`
`
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`Motion Toolbox User Guide
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`
` Execute VI? Specifies whether the VI should execute normally or
`do nothing and return.
`in applications dealing with control cards, data acquisition cards, or
`instruments, should send setup and configuralion information to the
`card only when the information changes. This avoids needless
`communication that degrades the performance of the application and
`
`
`
`controller receives them. Non-immediate commands are buffered
`and will execute when the previons non-immediate command(s) are
`completed.
`
`
`
`
`
`True: Pre-pend commands by the immediate
`specifier.
`False: Do not pre-pend commands by the
`immediate specifier.
`- Addrlpott specifies either the switch-selected
`address or the
`AT6400 product or the serial port connected
`to a 6200 product.
`6200 Product:
`
`1: Communications port 1
`2: Communications port 2
`3: Communications port 3
`4: Communications port 4
`A'l‘640O Product:
`
`
`
`
`
`f«4rt”":"’“»-"':"‘"‘‘A
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`Page 16 ggé}N%Pooo17959
`
`Valid AT6400 address (768 to 1023 decimal, 300 to 3FF hex)
`1 Axis. Specifies the axis the VI
`affects. Valid 6200 axes are 1-2.
`Valid A'l"6400 axes are 1-4.
`
`Page 8
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`Using Motion Toolbox
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`Using Morion Toolbox
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`Motion Toolbox User Guide
`
`A better way is to compile all the Motion Toolbox .LLB files using
`LabVlEW's mass compile feature. To do this, select Mass Compile... under
`LabVIEW's File menu. Now select the \MOTION directory (should be
`located off LabVIEW's VLLIB directory) that holds the Motion Toolbox Vls.
`You can also select each .LLB file separately. If you elect to mass compile
`the entire MOITON directory of .LLBs, it may take a while to execute. See
`the LabVlEW 3. 0for Windows User Manual for more information on mass
`compiling.
`
`Timer Resolution
`
`The default resolution of the timer functions included with LabVIEW for
`Windows is 55
`You can increase the resolution to 1 ms by
`altering the LabV[EW preferences file (see LabVIEW release notes). Using
`the 1 ms timer resolution dramatically increases the performance of 6000
`communications, particularly with the 6200. Under certain circumstances,
`however, the increased interrupt load caused by the higher resolution timer
`may exceed your PCs capacity to handle the intemrpts. Please read the section V
`Timer Resolution in the LabVIEW release notes to see if a 1 ms remlution will
`be appropriate for your application.
`
`Vl Labeling Conventions
`
`Bold and Non-bold
`
`The 1/0 parameters of Motion Toolbox Vls are labeled in bold and non-bold
`text. A bold label indicates the parameter is important and is normally wired
`when the V1 is used in an application. Non-bold labels indicate that the
`parameter can often be left unwired, thereby using the default, without
`affecting the Vls primary function.
`
`Default Inputs
`
`Parenthesis ( ) on the label of an input parameter indicate the default value the
`VI will automatically use if the terminal is left unwired. The inputs of many
`Vls in Motion Toolbox default to “no change’ meaning that no change is made
`to the current setting.
`
`Page 10
`Using Motion Toolbox
`
`
`
`Page 18 of 113
`RGBINSPOOO17961
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`Page 18 of 113
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`

`
`Addripott out
`
`
`
`lrrlnediate? [T] ------*3
`Execute V1? (T) ~~~--~--
`hddrfport [default
`I
`Reset before start? [T] --'”"""'i
`
`
`True: Reset and start timer.
`False: Resume counting from cuxrent value.
`6000 command reference: TIMST
`
`
`
`Page 19 ;(%f3&>.I1N3s‘;Pooo17962
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`Page 19 of 113
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`

`
`
`
`Motion Toolbox User Guide
`
`Stop 6000 Timer
`
`Addnfpori out
`
`Immediate? (Tj '~~
`Execute VI? [T] -----~-3
`Addllpmt [default]
`,
`Asia [1]
`Cnuntetlencoder [encoder] -"3
`
`Counter/encoder.
`
`True: Configurc input as up/down counter.
`False: Configure input for encoder feedback.
`6000 commaxid reference: CNTE
`
`Page 32
`
`Counter & Timer VI:
`
`
`
`
`
`Page 20 gf(;éI1N:;P00017963
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`

`
`Motion Toolbox Uxer Guide
`
`Addriport out
`Error
`
`Reset 6000 Hardware Counter
`
` Immediate? [T] ----~---5
`
`Eaecute Vl?
`~~-—--3
`
`
`Add!/port
`_
`rcscx
`
`
`
`Axi:1 [F=don't reset] -5.
`
`Axis 2 [F=don't 1686!] -~‘
`Axis 3 [F-—:don'( retell -------‘
`
`Axis 4 [F=don'! resell "*-"'-*~**’
`
`Clears specified encoder registers that are configured as counters. The
`counters can also be cleared by agplying a positive differential signal to Z4-
`and L.
`
`
`
`E Axis 14. A true resets the respective counter.
`
`6000 command reference: CNTR
`
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`

`
`
`
`Configuration Vls
`
`
`This chapter contains descriptions of the configuration Vls included with
`Motion Toolbox. The figure below displays the Configuration function palette.
`
`
`
`Configuration Function Palette
`
`Configuration VI Descriptions
`
`Set Motion Scaling Factors
`
`
`
`Page 22 of 113
`RGBINSP00017965
`
`Execute vi? in
`Addrlpott [default]
`Axis 1
`Diet. factor 5%
`Vel. factor [25000]
`Ace. factor [25000]
`
`ilflalfi-"E1
`gm
`
`Addrlpott out
`EH0’
`
`
`
`:5
`
`: H
`'_
`
`:34
`
`l \
`
`Sets scale factors for distance, velocity and acceleration. The 6000 controller
`internally multiplies the values issued via the Set Distance, Set Velocity and Set
`Acceienztion Vls by the appropriate scaling factor provided scaling is enabled
`by the Enable Scale Factors VI.
`
`jj; Dist. factor specifies the distance scale factor for the respective
`axis. Valid range is 1 to 999,999.
`
`
`
`Configuration V1:
`
`Page 15
`
`Page 22 of 113
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`

`
`
`
`Marion Toolbox User Guide
`
`Velocity factor specifies the velocity scale factor for the respective
`axis. Valid range is l to 999,999.
`
`Accel factor [25008]
`
`Dist. factor {1}
`Velocity factor (25000)
`
`Addtlport out
`
`4.;
`
`
`
`If scaling is
`Sets path scale factors for distance, velocity and acceleration.
`enabled (Enable Scale Factor; VI), the 6000 controller internally multiplies the
`distance, velocity, and acceleration values used in path contouring and linear
`interpolated moves by the respective scale factor.
`Dist. factor specifies the path distance scale factor for contouring
`and linear interpolated moves. Valid range is 1 to 999,999.
`Velocity factor specifies the path velocity scale factor for
`contouring and linear interpolated moves. Valid range is l to
`999,999.
`
`Accel factor specifies the path acceleration scale factor for
`contouring and linear interpolated moves. Valid range is I to
`999, 999.
`
`6000 command reference: PSCLD, PSCLV, PSCLA
`
`Page I6
`
`Configuration V15
`
`3‘
`
`
`
`Page 23 iggéI1N:;P00017966
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`Page 23 of 113
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`

`
`
`
`Enables and disables the acceleration,
`distance and velocity scaling factors.
`When enabled, all distance, veloci
`ty, and acceleration values are multiplied by
`the appropriate scale factor.
`
`Enable?
`
`True: Enable scale factors.
`False: Disable scale factors.
`
`6000 command reference: SCALE
`
`Set Participating Axes
`
`lmmefiale? {T} ------
`Execute Vl? (T)
`Add:/port [default]
`Particiaating are: [4]
`
`
`
`Addrlport out
`
`Defines the total number of axes to be controlled by the 6000 series product.
`The 6000 controller defaults to control all axes for the product.
`Participating axes sets the number
`of axes to be controlled by the
`6000 controller. Valid range
`is zero to four and is product
`dependent.
`
`6000 command reference: INDAX
`
`Configuration V1:
`
`Page 17
`
`
`
`4 f 113
`Page2 l('x)’GBINSP00017967
`
`Enable Scale Factors
`
`Motion Toolbox User Guide
`
`lmmecfiale? [T] -—~----~;
`...._._...........§:1
`Execute VI ? {T3
`Addriport {default}
`
`Enable? [T] -5 -
`
`Addrlporl out
`Error
`
`Page 24 of 113
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`

`
`
`ma
`
`Motion Toolbox User Guide
`
`Configure Command Control
`
`immecfiate?(T3 ~~—-
`Execute VI? (U
`Addtiporl [default]
`Enable continuous and mode?._.
`Other command control
`Continue Exec. on Limit (al...
`Continue Exec. on in Posili...
`
`‘
`
`'
`
`_
`-
`'
`
`Addrlporl out
`
`....DofllxcW.as.M-«»«v-<»-*‘~
`
`
`
`---...-.~..-.,...,...h..
`
`In many
`Configures several run-time modes in the 6000 controller.
`applications it is appropriate to execute this VI with the default settings. You
`may want to experiment with different settings for your application. Refer to
`the 6000 Series‘ Sofiware Reference Guirle for a full explanation of these
`configuration modes.
`
`fgi::_;§3
`
`Enable continuous cmd mode? Normally, when a motion command
`is received, command processing is temporarily paused until motion
`is complete. When continuous command mode is enabled,
`command processing continues while motion is in progress.
`True: Enable continuous command mode.
`False: Disable continuous command mode.
`— Other command control determines how the controller will respond
`after receiving a KILL, PAUSE/RESUME or STOP command.
`
`Continue Exec. on Limit determines whether the controller's
`command buffer will be saved upon hitting an end-of-travel limit or
`a soft limit. If enabled, all commands following the command
`currently being executed will remain in the buffer when a limit is
`encountered. Otherwise the commands in the buffer will be
`discarded.
`
`- Continue Exec. on In Position determines whether the command
`processing will pause until the imposition signal is received from the
`drive. If enabled, command processing is paused until the in-
`position input is active.
`
`6000 command reference: COMEXC, COMEXK, COMEXL, COMEXP,
`COMEXR, COMEXS
`‘
`
`Page 18
`
`‘
`
`Configuration V15
`
`
`
`5
`f 113
`Page2 l('x)’GBlNSP00017968
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`Page 25 of 113
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`

`
`
`
`Axis 3 [no change]
`
`Immediate? {T} W~~~~--1
`Execute VI? [T]
`5
`Addtlpott (default)
`Asia 1 [no change}
`Axis 2 {no change}
`Axis 3 [no change)
`
`M“
`
`Addrlpott out
`Em?
`
`Specifies whether subsequent moves are made {with respect to the current
`position (incremental) or with respect to an absol
`nte zero position.
`- Axis 1-4 determines the mode for the respective axis.
`0: Configure axis for incremental mode.
`1: Configure axis for absolute mode.
`2: Do not change active setting.
`6000 command reference: MA
`
`
`
`Configuration W5
`
`Page I 9
`
`
`
`6 f 113
`Page2 l('x)’GBlNSP00017969
`
`
`
`Set Continuous/Preset Mode
`
`Motion Toolbox User Guide
`
`lmmecfiate? {T} W
`Execule VI? [T]
`Adddpott [default]
`Axis 1 [no change}
`this 2 [no change]
`Axis 3 [no change}
`
`Axis 4 [no change}
`
`Addrfpott out
`
`velocity or move a preset distance established with the Set Distance VI.
`Axis I-4 determines the mode for the respective axis.
`0: Configure axis for preset mode.
`1: Configure axis for continuous mode.
`2: Do not change active setting.
`6000 command reference: MC
`
`Set Absolute/Incremental Mode
`
`Page 26 of 113
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`

`
` Motion Tooibox Urer Guide
`
`
`
`Set Drive Resolution
`
`
` Immediate? {T} _
`
`EaecuteVl? {T} ~~~~~~~--E
`
`Adddpotl out
`Addilpotl [detail]
`-i
`
`Attic 1 [no change]
`Errot
`
`Axis 2 [no change)
`A16: 3 [no change]
`Axis 4 [no change)
`
`
`
`
`
`
`
`
`
`
`
`Configures the step motor controller resolution to match that of the
`motoridrivc to which it is attached. This is necessary to accurately calculate
`motor velocities and accelerations. The default resolution is 25,000 steps per
`revolution for Compumotor step motor controllers.
`
`
`
`
`
`Axis 1-4 determines the resolution for the respective axis. Valid
`range is 200 to 1,024,000 steps per revolution.
`
`V
`
`6000 command reference: DRES
`
`Set Drive Fault Level
`
`
`
`
`
`
`Addrlpml [delault]
`Axis I [no change}
`
`Axis 2 [no change}
`
`Asia 3 [no change]
`
`Axis «I [no change]
`
`
`
`
`
`Sets the drive fault level for each axis. To enable the drive fault input, you
`must use the Enable 6000 Input Functions VI to enable input functions. Use
`the following table for setting the drive fault level for Compumotor drives.
`
`
`
`
`
`
`.._M..t..3K."
`
`
`
`
`
`Com umolnr Product
`BL.L.LE,PS7.UD2,UD5 & UDIZ
`Compumotnr Plus, LN. OEMSeries, S & 2
`
`Drive Fault Level
`Active Low
`
`Active High
`
`C
`
`Configuration Vls
`
`
`
`Page 27 of 113
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`Motion Toolbox User Guide
`
`— Axis 1-4 determines the drive fault level for the respective axis.
`0: Active Low.
`1: Active High.
`2: Do not change active setting.
`6000 command reference: DRFLVL
`
`-
`
`.
`
`2
`
`.
`
`1
`
`Enable Drive
`
`