Workcell-Installation-Guidelines-Troubleshooting-Maintenance-REV-F.pdf - 第52页

Workcell Installation and General Guidelines Revision F / Janu ary 2021 Page 52 of 59 TC Tell error code. Displays the number and a text description for a command error TC1 TD Tell Dual Encoder TE Tell error. This return…

Workcell Installation and General Guidelines

Revision F / January 2021

Page 51 of 59

Motor off. Shuts off motor

control

MO (turn all motors off), MOX

(turn off only the X axis motor)

MO shuts off the motor(s).The

motors are reactivated with the

SH (servo here) command

Reverse Motion to Position

Motor Type

No operation. This command

performs no action and is used

to comment a program

NO!!! PROGRAM 1!!!! (description

for program)

A semicolon (;) terminates the

NO command. Any statements

following a semicolon are

executed

Position absolute. This sets the

destination of a move,

referenced to the origin. The

units are in counts

PA 10000,10000,1000

(commanded position for X, Y

and Z axes), PAX=10000

(commanded position of X axis)

It is best to limit the use of the

PA command to designating the

start of a dispense path. Overuse

of the PA command complicates

program editing

Position Format

Position relative. This sets the

incremental position of the next

move, referenced to the current

position. The units are in counts

PR 10000,10000,1000

(commanded change in

position for X, Y and Z axes),

PRX=10000 (commanded

change in position of X axis)

Be careful not to confuse PA

with PR. The PR command

begins its move from the current

position, without reference to

the origin

Reset. Resets the controller to

its power on state. All the

information in the controller’s

RAM is erased

If PathMaster® fails to download

a file correctly; the program may

be halted in the controller.

Executing an RS command from

the terminal screen restarts the

program

Set bit. Sets a bit on the output

port

SB40 (sets the bit for the

buzzer)

Setting a bit in DMC terminology

turns the bit off. The opposite of

SB is CB (clear bit). A complete

list of the outputs can be found

in the Operating Guide

Servo here. The controller uses

the current position as the

command position and enables

motor control

SH (activate all motors)

SHZ (activate only the Z motor)

The opposite of SH is MO (motor

off) SH resets all position errors

to zero

Speed. Sets the speed for

independent moves. Units are in

counts per second

SP*=100000 (sets all axes),

SPX=100000 (only sets the X

axis speed), SP

10000,30000,40000 (sets X, Y

and Z speeds separately)

Make sure the value of the

acceleration is high enough to

get the motion to speed within a

reasonable amount of time

Stop. Halts motion on the

specified axes. If no axes are

specified, it halts program

execution

STX (stop motion on the X

axis), ST (stop all motion and

halt the program)

Use the AM command after the

ST command to wait for motion

to be stopped

Workcell Installation and General Guidelines

Revision F / January 2021

Page 52 of 59

Tell error code. Displays the

number and a text description

for a command error

TC1

Tell Dual Encoder

Tell error. This returns the

current position error of the

motors. Units are in counts

Use this command in the

terminal screen if a motor

appears to be working

incorrectly. The Dispensing

System is programmed to

disregard errors of less than

1000 counts

Tell Position. Returns the

current position of the motors

TP (All axes). TPX (X axis only)

Use in the terminal screen to

verify the current location of the

motors. In addition, the Manual

mode of the workcell has a push

button that accomplishes the

same task

Acceleration for coordinated

moves. The units are in counts

per second²

VA 100000

Make sure the value of the

acceleration is high enough to

get the motion to speed within a

reasonable amount of time

Deceleration for coordinated

moves. The units are in counts

per second²

VA 100000

Make sure the value of the

acceleration is high enough to

get the motion to speed within a

reasonable amount of time

Vector Sequence End

Vector Position

Vector Speed. Sets the speed for

coordinated moves. Units are in

counts per second

VS 100000. Query the

controller with the command

MG_VS

Make sure the value of the

acceleration is high enough to

get the motion to speed within a

reasonable amount of time

Wait. Holds program execution

for specified time

WT500

Use the WT command whenever

the program needs to pause,

particularly if another action

needs time for completion

Figure 36: Important Commands

Workcell Installation and General Guidelines

Revision F / January 2021

Page 53 of 59

DMC Error Codes

Description

Unrecognized command

Download error - line too long or too many lines

Command only valid from program

Duplicate or bad label

Command not valid in program

Too many labels

Operand error

If statement without ENDIF

Input buffer full

IN command must have a comma

Number out of range

Array space full

Command not valid while running

Too many arrays or variables

Command not valid while not running

Not valid from USB port

Variable error

IN only valid in task #0

Empty program line or undefined label

Record mode already running

Invalid label or line number

No array or source specified

Subroutine more than 16 deep

Undefined array

JG only valid when running in jog mode

Not a valid number

EEPROM check sum error

Too many elements

EEPROM write error

Only X Y Z W valid operand

IP incorrect sign during position move or

IP given during forced deceleration

TM too large for stepper pulse

ED, BN and DL not valid while program

running

SM jumper needs to be installed for stepper motor

operation

Command not valid when contouring

Bad binary code format

Application strand already executing

Binary commands not valid in application program

Begin not valid with motor off

Bad binary command number

Begin not valid while running

100

Not valid when running ECAM

Begin not possible due to Limit Switch

101

Improper index into ET (must be 0-256)

Begin not valid because no sequence

defined

102

No master axis defined for ECAM

Variable not given in “IN” command

103

Master axis modulus greater than 256*EP value

S operand not valid

104

Not valid when axis performing ECAM

Not valid during coordinated move

105

EB1 command must be given first

Sequence segment too short

110

No hall effect sensors detected

Total move distance in a sequence > 2

billion

111

Must be made brushless by BA command

More than 511 segments in a sequence

112

BZ command timeout

VP or CR commands cannot be mixed

with LI commands

113

No movement in BZ command

Contouring record range error

114

BZ command runaway

Contour data being sent too slowly

118

Controller has GL1600 not GL1800

Gear axis both master and follower

120

Bad Ethernet transmit

Gearing and coordinated moves cannot

run simultaneously

121

Bad Ethernet packet received

Not enough fields

122

Ethernet input buffer overrun

Question mark not valid

123

TCP lost sync

Missing " or string too long

124

Ethernet handle already in use

Error in {}

125

No ARP response from IP address

Question mark part of string

126

Colsed Ethernet handle

Missing [ or []

127

Illegal Modbus function code

Array index invalid or out of range

128

IP address not valid

Bad function or array

130

Illegal IOC command

Bad or unrecognized command in a

command response (i.e. _GNX)

131

Timeout on serial port

Mismatched parentheses

132

Analog inputs not present

133

Handle must be UDP

Figure 37: DMC Error Codes