RS-232
& RS-485 Communication
RS-485 Line Data Control
Printing to a COM Channel
Reporting COM Channel Protocol
Input/Output
Software Selectable I/O Commands
Analog Input, Digital Input, and Digital Output
I/O initialization
Motor I/O Connector types
Additions From Past Firmware Release
Directional Limit and Limit Trigger High/Low
Addition of Coordinated Motion
(Multi-axis contouring)
Motion Modes
Mode Follow w / Ratio & Offset
Mode Step and Direction and Mode Step with Ratio
Mode Cam
Coordinated Motion |
Programming
Language
Variables-Variable and Arrays Names
Initializing Variables and Arrays
Long Term Variable Storage
Control Flow
System State Variables / Status Bits
Report, Function Commands
Creating Motion
Position Mode, Velocity Mode and Torque Mode
Computing Servida Motor Velocity, Acceleration, and WAIT Values
Integral Brake Commands
External Encoder & Primary Encoder Commands
Gravity Constant (Gravity Feed Forward) for Vertical Axis Applications
Directional Limit Inputs
Motor and Load Protection Features
Servo-amplifier OFF Command |
Firmware
4.15c