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value to cause alarm (TIMINT)
322
torque
actual, status 352
commanded, status 352
limit 94
status 78, 307
scaling 99
static 99
trace mode 339, 340
transfer
actual torque/force (TTRQA) 352
actual velocity (TVELA) 354
analog input voltage, ANI (TANI)
301
axis status (TAS) 302
axis status, extended (TASX)
305, 306, 308
bus voltage (TDVBUS) 313
captured commanded position
(TPCC) 332
captured master cycle position
(TPCMS) 334
command error 309
commanded acceleration (TACC)
300
commanded position of follower
(TPSLV) 339
commanded torque/force (TTRQ)
352
commanded velocity (TVEL) 353
configuration status (TCS) 310
continuous current rating
(TDICNT) 311
data pointer location (TDPTR)
313
drive temperature (TDTEMP) 313
error log (TERRLG) 317
error status (TER) 314, 316
Ethernet address (TNTMAC) 330
expansion I/O configuration
(TIO) 325
Following status (TFS) 318, 320
free segments (TSEG) 346
gains (TGAIN) 321
hall sensor values (THALL) 321
input status programmable (TIN)
324
labels (TLABEL) 326
limits (TLIM) 327
master cycle number (TNMCY)
328
master cycle position (TPMAS)
336
master velocity (TVMAS) 355
maximum current rating
(TDIMAX) 312
memory usage (TMEM) 327
motor temperature (TMTEMP)
328
net position shift (TPSHF) 338
operating hours (TDHRS) 311
other input status (TINO) 325
output status (TOUT) 330
PLC scan time 345
position commanded (TPC) 331
position error (TPER) 336
position of captured encoder
(TPCE) 333
position of captured master
encoder (TPCME) 334
position of encoder/resolver
(TPE) 335
position of master encoder
(TPME) 337
position of selected feedback
device (TFB) 318
program (TPROG) 337
program directory (TDIR) 312
program execution status (TEX)
317
resolver (TPRA) 337
resolver offset angle (TSROFF)
347
revision level (TREV) 341
servo gain set (TSGSET) 346
servo settling time (TSTLT) 350
statistics (TSTAT) 350
system status (TSS) 348, 349
timer (TTIM) 351
user status (TUS) 353
velocity error (TVE) 353
translation mode 340
transmitting message strings 369
trigger inputs
active level 183
debounce 175
if interrupt inputs 343
I/O bit pattern 11
position capture 180, 245, 246,
247, 248, 332, 334
status 343, 352
programmed
GOWHEN function 342
restart master cycle counting
342
status 151, 319
programmed functions 178, 211
registration 180, 265
status 174, 324
trigger interrupt input
registration 268
trigonometric operators 253, 264,
291, 359
troubleshooting See Programmer's
Guide
axis status 302
axis status, extended 305
configuration status report 310
drive statistics 350
enable input status 325
error log 317
error messages 14
Following status 318, 320
Hall sensors 321
identify bad command 18
system status 294
truncation
acceleration/deceleration 23, 279
distance 24, 281, 282
velocity 23, 283
U
uncompile a compiled profile
(PUCOMP) 264
unconditional looping 205, 215
compiled 254, 255
units of measurement 3, 22, 276
linear motors 84
until 226, 271, 356
UNTIL 50
updates
drive operating system
www.comoso.com
using Motion Planner 10
motor data table 97
upload/download files
using Motion Planner 8
user fault 180, 212, 240
user fault input
active level 183
error status 314
user status 175, 353, 356
basis for gosub 231
definition (INDUST) 176
V
value substitution, command fields 6
variable
analog monitor output A 87
analog monitor output B 89
variables 31
binary 357
display on RP240 116
writing 370
clearing (VARCLR) 360
conversion between numeric and
binary 363
indirect 359
integer 361
display on RP240 117
writing 370
numeric 359
display on RP240 116
teach data 71, 76
writing 370
string 362
writing 371
velocity 357
actual (feedback device) 354
assignment 358
actual 365
commanded 364
bandwidth, ratio with position
287
change on-the-fly 63, 220
commanded 353
damping ratio 289
error
setting max. allowable
(SMVER) 293
status 353
feedforward gain (SGVF) 288
final (compiled motion) 365
jog, high 192
jog, low 192
limit 101
master
assignment/comparison 366
transfer 355
maximum, follower axis
(steppers) 140
scaling (SCLV) 275, 282
target zone 299
virtual input override 173
virtual master
count acceleration (FVMACC)
155
count frequency (FVMFRQ) 156
viscosity, electronic 80
voltage
ANI input 51, 301
voltage constant (Ke) of motor 93
voltage range for ANI inputs 52
Index
359
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