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from compiled program (EXE)
137
status 295, 317, 348
termination 60, 163
upon power-up 296
flow control 163, 202, 225, 226,
271
WAIT statements 366
interrupts 229
jump (branch) 202
label 29
list all programs 312
memory allocation 222
name 79, 185
pause (PS) 260
PLC
definition of (PLCP) 253
memory storage 222
PLC scan (SCANP) 276
power-up program 296
reset, effect of 271
run 272
security 181, 213
selection 181, 185, 213
size restriction 222
step through 30, 296
storage 222, 327
trace mode 339, 340
translation mode 340
upload 337
program/profile
definition 120
programmable inputs See inputs,
programmable
programmable outputs See outputs,
programmable
programming
programming tools 7
programming examples See
application examples
prompt
error 126
good (no errors) 129
program definition 126
PWM frequency 109
R
radian 264
rated speed, motor 101
ratio of follower to master 148, 149
change on the fly 149
final ratio (in compiled profile)
150
status 151, 318
read a value (READ) 267
read data from parallel I/O 242
read RP240 data (DREAD) 110, 111
read RP240 function key (DREADF)
110, 111
registration
distance 268
lock-out 269
enable 265
input debounce 343
single-shot (REGSS) 269
status, profile not possible 303
status, trigger occurred 303
trigger interrupt 180
relational operators 172, 271, 356,
366, 368
relay output
activate on fault condition 304,
307
status 330
repeat 226, 271, 356
REPEAT 50, 271
reset
data pointer (DATRST) 74
drive (DRESET) 113
drive (RESET) 271
RESET 271
resolution
drive 113
encoder 124
encoder input 124
encoder output 233
resolver 124
step & direction output 233
resolver
offset angle 294
status 347
position report 335
resolution 124
transfer absolute position (TPRA)
337
responses
beginning-of-transmission
characters 59
end of line characters 120
end-of-transmission characters
121
error 14
send to both COM ports 42, 43
restart master cycle counting 141,
342
return to factory settings 272
revision level 341
rollover of master cycle position 256,
336
rotor inertia, motor 93
round-off error, square root 294
RP240
COM port setup 114
connection verified 295
connection verified 348
data read 110
data read immediate mode 111
display binary variable (DVARB)
116
display integer variable (DVARI)
117
display layout 107, 118
display numeric variable (DVAR)
116
display variable 116
jog mode 83
LEDs 84
password 106
position cursor 107, 110
read function key 110
stop key enable/disable 116
value of key pressed 83
write text 117
RS-232C
auto-addressing (ADDR) 49
COM port setup 114
enable/disable communication
118
lock COM port 215
RS-485
auto-addressing (ADDR) 49
COM port setup 114
disable XON/XOFF 371
www.comoso.com
enable/disable communication
118
lock COM port 215
run, compiled program (PRUN) 260
run, PLC program (SCANP) 276
run, program (RUN) 272
S
save command buffer on limit 65
scaling 22
acceleration 23, 279
analog monitor output A 86
analog monitor output B 88
distance 24, 280
enabling 275
examples 24
force command 99
master 24, 281
torque command 99
velocity 23, 282
scan PLC program (SCANP) 276
scan time of last PLC program 345
s-curves 19
acceleration 46
deceleration 49
hard limit deceleration 208
homing acceleration 167
homing deceleration 168
jogging deceleration 191
joystick acceleration 196
joystick deceleration 197
soft limit deceleration 217
S-curves
jogging acceleration 190
security of programs 181, 213
segment See compiled motion
select bit 31
servo
commanded position 244, 331
data gathering, status 295, 348
feedback source selection 284,
318
gain sets
display 346
enable 285
saving 288
gains See gains
move completion criteria 297
position error
max. allowable 293
position tracking 289
target distance zone 297
target velocity zone 299
target zone mode enable 297
target zone settling time 350
target zone settling timeout period
298
servo tuning
current damping ratio (SGIRAT)
287
current loop bandwidth (DIBW)
80
integrator enable (SGINTE) 286
load damping (LDAMP) 205
load-to-rotor inertia ratio
(LJRAT) 214
notch filter A depth (DNOTAD)
102
notch filter A frequency
(DNOTAF) 103
Index
357
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