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change with D command 68
disable drive 114
disable drive on kill 204
disable hall sensor error checking
(DHALL) 81
display
messages 32
RP240 See RP240
distance 68
assignment 69
change on-the-fly 63, 69
fractional step truncation 24, 281,
282
master See master, distance
registration 268
lock-out 269
scaling factor (SCLD) 275
target zone 297
division 38
download/upload files
using Motion Planner 8
DRESET 113
drive
active damping 71
auto current standby 77
bus voltage, status of 313
configuration
disable drive on kill 204
resolution (DRES) 113
configuration procedure
using Motion Planner 8
disable 114
disable drive on kill 204
enable 114
fault
if DRIVE0 or enable input
open 139
status 56, 306, 308
operating modes (DMODE) 86
shutdown 114, 203, 204
stall detect
enable (DSTALL) 115
temperature fault 307
temperature, status report 313
E
echo, communication 118
electrical pitch 84
electronic viscosity 80
ELSE 119, 172, 225
enable input
error status 314
enable input status 123, 183, 325
error checking 129
error program 131
error status 122
enable or disable Following 143
status 151, 319
enabling the drives 114
encoder
capture/counter enable (steppers)
120
input resolution (ERES) 124
master
polarity 224
position
assignment/comparison
256, 337
capture 247, 334
status 337
step & direction input 224
output resolution (ORES) 124
position
assignment/comparison 138,
250
capture 180, 246, 333
error 251
status 318
position report 335
resolution (ERES) 124
selected with SFB 284
Z-channel homing 164, 171
end of line terminating characters
(EOL) 120
end of loop (LN) 205, 215
end of loop, compiled (PLN) 254
end of transmission characters (EOT)
121
end program/subroutine/profile
definition (END) 120
end-of-travel limits
active level 183, 214
deceleration 208
s-curve 208
effect on command buffer 65
effect on homing 164, 169
enable/disable 207
error status 314
function assignment (INFNC) 181
function assignment (LIMFNC)
211
simulate activation 210
soft limit
decel 216
decleration (LSAD) 217
decleration, s-curve 217
range, negative direction 218
range, positive direction 218
status 209, 303, 327
enter interactive data (') 31
epitch 84
erase all programs (ERASE) 124
error
clearing 131
error checking enable (ERROR)
129
error detection level (ERRLVL)
127
error log
clear (CERRLG) 62
display contents (TERRLG)
317
error log (ERRORL) 130
motor configuration 310
program assignment (ERRORP)
131
prompt (ERRBAD) 126
responses 14
status 122, 314, 316
Ethernet
enable communication (INFEN)
227
Ethernet address 330
IP address 227
network mask 228
events, alarm 186
exclusive or (^) 40
execute program from PLC program
137
expansion I/O, status 325
extended axis status 56, 306, 308
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F
factory default settings 113, 271
factory default settings, restore 272
fast status register 187
faults See drive, fault. See error
axis (extended) status 307
axis status 304
cause drive shut down 114, 304,
307
configuration 310
fault on drive disable 139
faults activate fault output and
relay output 114, 304, 307
motor configuration error 97, 310
feedback source selection 284
field separator 5
filter, master position 138
final velocity
homing 171
final velocity (compiled motion) 365
firmware update
using Motion Planner 10
foldback mode 77
follower
acceleration, max. 140
commanded position
assignment/comparison 263
transfer 339
conditional go 160
definition of 146
master assignment 146
phase shift See shift
ratio to master 149
change on the fly 149
final (compiled motion) 150
status 151, 318
velocity, max. 140
Following
application examples 143
conditions for killing a profile
145
distance scaling 24
enable or disable 143
status 151, 319
geared advance 139
status 151, 318, 320
step & direction input (MESND)
224
force
actual, status 352
commanded, status 352
limit 94
status 78, 307
scaling 99
force an alarm event (INTSW) 187
forcer
inertia/mass ratio 214
mass 93
fractional step truncation 281, 282
G
gains
acceleration feedforward 285
current damping ratio (SGIRAT)
287
current loop bandwidth (DIBW)
80
gain set
Index
353
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