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Index • 210 USER MANUAL
Selecting Address................. 52, 139–41, 166, 188, 216
Set Bit....................................................................... 148
Sine 65, 86, 135
Single-Ended .................................................. 13, 21, 23
Slew 55, 65, 81, 108, 121, 123, 151
Smoothing............................... 65, 71, 72, 76, 78, 105–7
Software
Terminal...................................................................56
Special Label .................................................... 115, 163
Specification................................................... 71–72, 77
Stability ...............................104, 157, 165–67, 172, 178
Stack......................................................... 128, 132, 150
Zero Stack...................................................... 132, 150
Status .................................56, 61, 73, 118–20, 137, 141
Interrogation .......................... 61–62, 73, 79, 143, 145
Stop Code ........................................................ 61, 141
Tell Code .................................................................60
Step Motor............................................................ 107–8
KS, Smoothing..................... 65, 71, 72, 76, 78, 105–7
Stop
Abort..........37–39, 47, 70, 76, 160, 162, 183, 186–87
Stop Code 55, 61, 129, 137, 141–42, 141, 151–53, 155–
57
Stop Motion.......................................... 70, 76, 131, 163
Subroutine............37, 75, 115, 124–31, 149–50, 161–63
Automatic Subroutine............................................ 129
Synchronization.................................................... 13, 82
Syntax................................................................... 56–57
Tangent..................................................... 65, 75, 77–78
Teach .......................................................................... 92
Data Capture.................................................... 139–41
Latch................................................................ 61, 110
Play-Back......................................................... 65, 141
Position Capture.....................................................110
Record.......................................... 65, 90, 92, 138, 141
Tell Code.................................................................... 60
Tell Error.................................................................... 61
Position Error22, 116, 129–30, 137, 140–41, 151, 157
Tell Position................................................................61
Tell Torque..................................................................61
Terminal..........................................38, 41, 56, 136, 144
Theory.......................................................................169
Damping.................................................................172
Digital Filter.................................56, 176–77, 179–81
Modelling.........................................169, 172–73, 177
PID...........................................................24, 172, 182
Stability............................104, 157, 165–67, 172, 178
Time
Clock......................................................................138
TIME...................................................................138–39
Time Interval...........................................88–90, 92, 140
Timeout.............................................116, 121, 129, 131
MCTIME........................................116, 121, 129, 131
Torque Limit...............................................................23
Trigger ..................................54, 113, 119, 122–24, 171
Trippoint ......... 66, 71–72, 77–78, 90, 121–22, 127, 128
Troubleshooting........................................................165
TTL 13, 37, 41–42, 160
Tuning
Stability............................104, 157, 165–67, 172, 178
User Unit...................................................................147
Variable
Internal...................................................125, 136, 137
Vector Acceleration ................................72–73, 78, 153
Vector Deceleration ........................................72–73, 78
Vector Mode
Circle................................................................152–53
Circular Interpolation.............75–78, 80, 140, 152–53
Clear Sequence.......................................70, 72, 76, 78
Ellipse Scale.............................................................78
Feedrate..................................72, 77, 78, 123, 152–53
Tangent...................................................65, 75, 77–78
Vector Speed...................................70–76, 78, 123, 153
Wire Cutter................................................................151
Zero Stack.........................................................132, 150