|M00 Title

S L O - S Y N   2 0 0 0
E L E C T R A K   2 0 0 0
M O V O P A R T
R A P I D T R A K
MS2000
Program Development Software
Version 2.21
copyright 1994 Superior Electric

|M01 Main menu descriptions

1 0 F1 - Help            6 Get 'Help' on using this program
1 1 Program help         1 Get 'Help' on using this program

2 0 System               1 Edit/display the computer program operating parameters
2 1 Communication port   1 Select the computer communication port
2 2 RS-232 protocol      1 Select the computer RS-232 protocol
2 3 Printer port         1 Select the computer printer port
2 4 Monitor              1 Select the computer monitor type and set the display colors

3 0 Programming          1 Create / load / edit / print programs
3 1 Create new program   1 Create a new program
3 2 Edit program         1 Edit an existing program
3 3 Load program         1 Load an existing program from disk
3 4 Save program         1 Save the program in memory to disk
3 5 Print program        1 Print the program in memory

4 0 Utilities            1 Transmit or receive files, Scan com port, terminal emulation
4 1 Terminal mode        1 Terminal emulation, communicate directly with the Controller
4 2 Scan com port        1 Scan the communication port for connected Controllers
4 3 Controller to printer2 Load the program in the Controller and print it
4 4 Controller to disk   1 Load the program in the Controller and save it to Disk
4 5 Disk to Controller   1 Load a program from disk and transmit it to the Controller

5 0 Execution            1 Perform manual or programmed motion
5 1 Manual execution     1 Step or jog the motor
5 2 Program execution    1 Execute the program currently in the Controller
5 3 MDI execution        2 Execute single line commands
5 4 Home execution       1 Set home or return to either mechanical or electrical home

6 0 Download             1 Transmit the program currently in memory to the Controller
6 1 Yes - DownLoad       1 Yes - Download the program in memory to the Controller

7 0 F10 - eXit           8 Exit the Application Generator program and return to DOS
7 1 Yes - exit           1 Yes - Exit to DOS

|M02 Manual execution menu descriptions

1 0 F1 - Help            6 Get 'Help' on using the 'Manual execution' selections
1 1 Manual exec. help    1 Get 'Help' on using the 'Manual execution' selections

2 0 Jog                  1 Allows jogging the motor in the +CW or -CCW direction
2 1 x + Jog CW           3 Start jogging the X axis motor in the +CW direction
2 2 x - Jog CCW          3 Start jogging the X axis motor in the -CCW direction
2 3 -                    1
2 4 y + Jog CW           5 Start jogging the Y axis motor in the +CW direction
2 5 y - Jog CCW          6 Start jogging the Y axis motor in the -CCW direction

3 0 Step                 1 Allows stepping the motor in the +CW or -CCW direction
3 1 x + Step CW          3 Start stepping the X axis motor in the +CW direction
3 2 x - Step CCW         3 Start stepping the X axis motor in the -CCW direction
3 3 -                    1
3 4 y + Step CW          5 Start stepping the Y axis motor in the +CW direction
3 5 y - Step CCW         6 Start stepping the Y axis motor in the -CCW direction

4 0 Controller           1 Select a different Controller to operate
4 1 Scan                 1 Scan the Serial port for another Controller to operate
4 2 Number               1 Enter the specific ID number of the Controller to operate
4 3 Select X             8 Select the X axis
4 4 Select Y             8 Select the Y axis

5 0 Parameter            1 Edit or display the current motion parameters
5 1 Edit                 1 Edit the current motion parameters

6 0 Home                 2 Set home or return to either electrical or mechanical home position
6 1 X set home           1 Set X axis electrical home
6 2 x Electrical home    3 Return the X axis to electrical home
6 3 x Mechanical home    3 Return the X axis to mechanical home
6 4 -                    1
6 5 Y Set home           1 Set the Y axis electrical home
6 6 y eLectrical home    4 Return the Y axis to electrical home
6 7 y meChanical home    5 Return the Y axis to mechanical home

7 0 F10 - Quit           7 Quit the 'Execution' window and return to the main level
7 1 Yes - quit           1 Yes - Return to the main level

|M03 Program execution menu descriptions

1 0 F1 - Help            6 Get 'Help' on using the 'Program execution' selections
1 1 Program exec. help   1 Get 'Help' on using the 'Program execution' selections

2 0 Line                 1 Set the starting line for program execution
2 1 Select line 1        1 Set the starting line equal to 1
2 2 Other                1 Enter the starting line number

3 0 Execution mode       1 Execute the program stored in the Controller
3 1 Single               1 Execute the program one line at a time
3 2 Auto                 1 Execute the complete program once or as many times as programmed for repeat
3 3 Continuous           1 Execute the complete program continuously until told to stop

4 0 Controller           1 Select a different Controller to operate
4 1 Scan                 1 Scan the Serial port for another Controller to operate
4 2 Number               1 Enter the specific ID number of the Controller to operate
4 3 select X             8 Select the X axis
4 4 select Y             8 Select the Y axis

5 0 Parameter            1 Edit or display the current motion parameters
5 1 Edit                 1 Edit the current motion parameters

6 0 Home                 2 Set home or return to either electrical or mechanical home position
6 1 X set home           1 Set the X axis electrical home position
6 2 x Electrical home    3 Return the X axis to electrical home position
6 3 x Mechanical home    3 Return the X axis to mechanical home position
6 4 -                    1
6 5 Y set home           1 Set the Y axis electrical home position
6 6 y eLectrical home    4 Return the Y axis to electrical home position
6 7 y meChanical home    5 Return the Y axis to mechanical home position

7 0 F10 - Quit           7 Quit the 'Execution' window and return to the main level
7 1 Yes - quit           1 Yes - Return to the main level

|M04 MDI execution menu descriptions

1 0 F1 - Help            6 Get Help on using the 'MDI execution' selection
1 1 MDI exec. help       1 Get Help on using the 'MDI execution' selection

2 0 Option               1 Select a command to execute
2 1 Select command       1 Select a command to execute

3 0 Execute              1 Execute the selected command
3 1 Execute command      1 Execute the selected command

4 0 Controller           1 Select a different Controller to operate
4 1 Scan                 1 Scan the Serial port for another Controller to operate
4 2 Number               1 Enter the specific ID number of the Controller to operate
4 3 select X             8 Select the X axis
4 4 select Y             8 Select the Y axis

5 0 Parameter            1 Edit or display the current motion parameters
5 1 Edit                 1 Edit the current motion parameters

6 0 Home                 2 Set home or return to either electrical or mechanical home position
6 1 X set home           1 Set the X axis electrical home position
6 2 x Electrical home    3 Return the X axis to electrical home position
6 3 x Mechanical home    3 Return the X axis to mechanical home position
6 4 -                    1
6 5 Y set home           1 Set the Y axis electrical home position
6 6 y eLectrical home    4 Return the Y axis to electrical home position
6 7 y meChanical home    5 Return the Y axis to mechanical home position

7 0 F10 - Quit           7 Quit the 'Execution' window and return to the main level
7 1 Yes - quit           1 Yes - Return to the main level

|M05 Home execution menu descriptions

1 0 F1 - Help            6 Get Help on the 'Home' selection
1 1 Home exec. help      1 Get Help on the 'Home' selection

2 0 Set home             1 Set electrical home position
2 1 X set home           1 Set the X axis electrical home position
2 2 -                    1
2 3 Y set home           1 Set the Y axis electrical home position

3 0 Elect. home          1 Return to the electrical home position
3 1 X electrical home    1 Return the X axis to the electrical home position
3 2 -                    1
3 3 Y electrical home    1 Return the Y axis to the electrical home position

4 0 Mech. home           1 Return to the mechanical home position
4 1 X mechanical home    1 Return the X axis to the mechanical home position
4 2 -                    1
4 3 Y mechanical home    1 Return the Y axis to the mechanical home position

5 0 Controller           1 Select a different Controller to operate
5 1 Scan                 1 Scan the Serial port for another Controller to operate
5 2 Number               1 Enter the specific ID number of the Controller to operate
5 3 select X             8 Select the X axis
5 4 select Y             8 Select the Y axis

6 0 Parameter            1 Edit or display the current motion parameters
6 1 Edit                 1 Edit the current motion parameters

7 0 F10 - Quit           7 Quit the 'Execution' window and return to the main level
7 1 Yes - quit           1 Yes - Return to the main level

|M06 Terminal execution menu descriptions

1 0 F1 - Help            6 Get Help on the 'Terminal' selection
1 1 Terminal exec. help  1 Get Help on the 'Terminal' selection

2 0 Status               1 Display selected status information
2 1 Input status         1 Display input status
2 2 Output status        1 Display output status
2 3 Execution status     1 Display program execution status
2 4 Mode Status          1 Display mode status
2 5 Motion error status  3 Display motion error status
2 6 Program error status 1 Display program error status
2 7 Line error Status    1 Display line error number

3 0 Codes                1 Display list of G codes, H codes and L codes
3 1 G codes              1 Display list of G codes
3 2 H codes              1 Display list of H codes
3 3 L codes              1 Display list of L codes

4 0 F10 - Quit           7 Quit the 'Terminal' window and return to the main level
4 1 Yes - quit           1 Yes - Return to the main level

|M07 Motion control #1 menu descriptions - Manual, Home and MDI execution control

1 0 Clear                1 Terminate motion (uncontrolled stop) / execution immediately
1 1 Clear                1 Terminate motion (uncontrolled stop) / execution immediately
2 0 Feedhold             1 Stop motion. (controlled stop)
2 1 Feedhold             1 Stop motion. (controlled stop)
3 0 High Spd             1 High Speed mode
3 1 Set high speed mode  1 Set the high speed mode of operation
4 0 Low Spd              1 Low Speed mode
4 1 Set low speed mode   1 Set the low speed mode of operation
5 0 Up                   1 Increase speed
5 1 Increase speed       1 Increase speed by the preprogrammed value
6 0 Down                 1 Decrease speed
6 1 Decrease speed       1 Decrease speed by the preprogrammed value
7 0 Speed                1 Change speed
7 1 Enter new speed      1 Enter a new speed value

|M08 Motion control #2 menu descriptions - Program execution control

1 0 Clear                1 Terminate motion (uncontrolled stop) / execution immediately
1 1 Clear                1 Terminate motion (uncontrolled stop) / execution immediately
2 0 Stop                 1 Stop program execution
2 1 Stop                 1 Stop program execution
3 0 Feedhold             1 Stop motion. (controlled stop)
3 1 Feedhold             1 Stop motion. (controlled stop)
4 0 High spd             1 High Speed mode
4 1 Set high speed mode  1 Set the high speed mode of operation
5 0 Low spd              1 Low Speed mode
5 1 Set low speed mode   1 Set the low speed mode of operation
6 0 Up                   1 Increase speed
6 1 Increase speed       1 Increase speed by the preprogrammed value
7 0 Down                 1 Decrease speed
7 1 Decrease speed       1 Decrease speed by the preprogrammed value
8 0 Speed                1 Change speed
8 1 Enter new speed      1 Enter a new speed value

|M09 Execution status text - H88

Program execution cycle
switch execution
Program stop
Feedhold active
Delay occurring
Waiting for input
Waiting for velocity
Reading external data

Active axis
Return to electrical home cycle
Return to mechanical home cycle
Index from run cycle
Jog Cycle
Step cycle
Index Cycle
Waiting for position

|M10 Motion error status text - H85

Drive NOT ready
Index from run limit...exceeded
Cw soft limit..........exceeded
CCw soft limit.........exceeded
Cw hard limit..........exceeded
CCw hard limit.........exceeded
Program error..........
Closed loop error......
Motion clear...........

|M11 Program error status text - H86

Illegal G code
Illegal L code
Subroutine or loop nesting
F field data out of range
X or Y field data out of range
N field data out of range
Line requires F field data
Line requires X or Y field data

G code illegal in current cycle
Switching axes while jogging
Attempted to index while jogging
G code cannot be executed from line 0
No external data source
Illegal comparison
X or Y sign required
No trigger for I.F.R. or R.M.H. cycle

|M12 Mode status text - H19

Position mode..........incremental      Position mode..........absolute
Motor windings.........off              Motor windings.........on
Boost current..........disabled         Boost current..........enabled
Reduce current.........disabled         Reduce current.........enabled
Speed mode.............low              Speed mode.............high
Manual mode............step             Manual mode............jog
Selected axis..........X                Selected axis..........Y
Direction..............CCW              Direction..............CW

|M13 Motion display text

Abs. position........
Velocity...............
Controller outputs.....
Controller inputs......
Repeat count...........
Expansion inputs.......
Expansion outputs......
Prog. error line.......
Selected Controller....

|M14 Communication port text

Select communication port
Serial communication port 1
Serial communication port 2

|M15 RS-232 protocol text

Select baud rate
9600 baud
2400 baud
1200 baud
300 baud

Select word length, parity, stop bits
8 bit word length, parity none, 2 stop bits
7 bit word length, parity none, 2 stop bits
7 bit word length, parity even, 2 stop bits
7 bit word length, parity odd,  2 stop bits

|M16 Printer port text

Select printer port
Line printer port 1
Line printer port 2
Line printer port 3

|M17 Monitor text

Select monitor colors
SCREEN foreground
SCREEN background
SCREEN highlight
SCREEN title
Window foreground
Window background
Window highlight
Window title
Menu foreground
Menu background
Menu highlight
Menu cursor foreground
Menu cursor background
Menu cursor highlight
Button foreground
Button background
Button selected foreground
Button selected background
Button highlight

Menu sample Text
Ŀ
 Menu item 1 
 Menu item 2 
 Menu item 3 

< SELECTED BUTTON >
< BUTTON >

|M18 Scale factor text

per motor revolution
Enter the number of
per motor revolution

Minimum resolution in
Enter the minimum resolution in

Drive pulses per revolution
50,000 pulses per revolution
25,000 pulses per revolution
20,000 pulses per revolution
10,000 pulses per revolution
 7,200 pulses per revolution
 3,200 pulses per revolution
 2,000 pulses per revolution
 1,000 pulses per revolution
   400 pulses per revolution
   200 pulses per revolution

For this application the drive must be
set to 50,000 pulses per revolution

This application requires more than
50,000 pulses per revolution

|M19 Unit label text

Default unit of measure
Enter the name of the default unit of measure
inches, feet, degrees, millimeters, steps, pulses

|M20 Edit program text

Unit of measure
Units of measure
Program resolution
Maximum speed
Maximum distance
Drive pulses per rev
 B.C.D. interface
 Expanded I/O
 Set position to zero
 Last electrical position
 Last encoder position
 Manual jog speed
 Last index speed
 X positive edge trigger
 X negative edge trigger
 Y positive edge trigger
 Y negative edge trigger
 X encoder index marker
 Ignored
 Disabled
 Halt on error
 Auto correct
 Auto restart
 Trapezoidal
 Hyperbolic
 'S' shaped
 Single
 Automatic
 Continuous
 Xon/Xoff - normal
 Xon/Xoff - "EOT"
 Xon/Xoff - "="
 Xon/Xoff - "EOT" & "="
 normal
 "EOT"
 "="
 "EOT" & "="
 1 column
 3 columns
/sec
/sec
 repeats
 attempts
 milliseconds
 encoder lines / rev
 Positive logic
 Negative logic
X axis extend
X axis retract
Y axis extend
Y axis retract
Enter the extend distance
Enter the retract distance
 inches
 millimeters
BP9305-A6506-FXN
TS09C12P
M140RT2A34,L=3345

|M21 Edit program text

Axes, Units & Scale factor
System configuration
Closed loop parameters
Mark registration
Home parameters
Input configuration
Output configuration
Profile parameters
Travel limits
Program parameters
Manual motion parameters
Backlash parameters
Serial port parameters
Serial messages
Edit Program
X axis
Y axis
 Yes
 No
 Cw
 Ccw
Active axis
Result less than (<)
Result equal to (=)
Result greater than (>)
Result greater than or equal to (>=)
Select register control function
Load a register with data
Scale register data using the L91 scale value
Move the contents of a register to another register
Add the contents of two registers
Subtract the contents of two registers
Compare the contents of two registers
Add program line data to a register
Subtract program line data from a register
Compare program line data to a register
Load a register with the absolute position
Load the absolute position with a register value
Load a register with the X axis encoder position
Select register execution function
Index using register data
Wait for distance using register data
Mark registration using register data
Mark registration using register data - Trigger is not armed
Arm trigger for mark registration cycle
Bring current motion to a controlled termination
Modfied mechanical home cycle
Select the source register
Select the target register
Load register
Scale register
Move register
Add
Subtract
Compare
 with
 to register
 from register
 register
 with the X axis absolute position
 with the Y axis absolute position
Load the X axis absolute position with register
Load the Y axis absolute position with register
 with the X axis encoder position
Index using register
Wait for register
 distance
Mark registration using register
 no trigger
Arm trigger for mark registration cycle
Terminate current motion cycle
Modified mechanical home cycle
Use register direction
or
Invert register direction
 inverted
Register data
Enter data for register
Range: -99999999 to +99999999
Program line data
Enter data for program line
Range: 0 to +99999999
Set the Feedrate with a register value
Load a parameter with a register value
Set Feedrate using register
Load parameter
using register
 Set registers to zero
 Last register values

|M22 Edit program text

Program
 is already loaded
 must be saved or deleted
 before creating a new program
There is no program loaded in memory to edit !
There is no program loaded in memory to print !
Save Program
 before returning to DOS ?
 before loading another program !
There is no program loaded in memory to save !
Clear line
Copy line
Paste copy buffer to line
Move line
X axis move
Y axis move
speed
Exit the program and return to DOS ?
There is no program loaded in memory to down load !
Press F10 or Esc (escape) to exit "HELP"
Use arrow keys to select item, use space bar to toggle selection
ON
OFF
Don't care
Use Tab key or shift Tab key to select < button >
Don't change
Advance 1 line
extend
retract
clockwise
counterclockwise

|M23 Edit program text

In order to read P.L.C. data inputs 1 - 9
must be configured for P.L.C. data interface
In order to read P.L.C. data outputs 5 - 8
must be configured for P.L.C. data interface
In order to read B.C.D. data the expansion
port must be configured for a B.C.D
switch interface
Be sure to set the drive to
 motor pulses per revolution !
Moving line
 90 mm
 140 mm
 screw drive
 belt drive
 6.35 mm
 10 mm
 25 mm

|M24 Edit program text

Use standard Controller inputs or expansion inputs ?
Use standard Controller outputs or expansion outputs ?
Standard input
 state equal to
Expansion input
Set standard output
Set expansion output
Wait for expansion inputs
Branch on expansion inputs
Set expansion output(s) to
Set flag
Flag
Select external data source
Will data be read from an external source ?
 to line
 to
Do you wish to enter a move distance ?
Enter the X axis move distance and direction
(+) for CW direction, (-) for CCW direction
Move X cw
Move X ccw
Enter the Y axis move distance and direction
Move Y cw
Move Y ccw
Enter the new X axis absolute position
(+) for positive position, (-) for negative position
 X Ccw
 X Cw
Enter the new Y axis absolute position
 Y Ccw
 Y Cw
Do you wish to enter a speed ?
Enter the X axis speed
Enter the Y axis speed
speed
Enter the X axis breakpoint position
Enter the Y axis breakpoint position
Enter the X axis breakpoint speed
Enter the Y axis breakpoint speed
(+) for >= speed, (-) for < speed
Select the X axis jog direction
Select the Y axis jog direction
Enter the program line number
Range: 1 to 400
Enter the loop repeat count
Range: 0 to 9999
Enter the subroutine repeat count
Enter the program delay
Range: 0 to 9999 milliseconds
Enter the message number
Range: 1 to 5
Select either the X axis, Y axis or Active axis
Select either the X axis or the Y axis
PLC
BCD bank 1
BCD bank 2
external data
 BCD-I/O board
BCD bank 3
BCD bank 4
Enter the error trapping line number
Select the I/O port
I/O port 1
I/O port 2
I/O port 3
I/O port 4
I/O port 5
I/O port 6
Branch on either user flags or system flags
 Motion busy
 Velocity at speed
 Trigger 1
 Trigger 2
 Mark registration limit
 Hardware limit
 Software limit
 Limit Direction CW/CCW

|M25 Terminal selection text

Press 'Alt' key to toggle between
manual and automatic terminal mode

|M26 Scan communication port text

Scanning comport
for connected Controllers
Press any key or left mouse button to continue

|M27 Controller to printer text

Controller to Printer
Controller
 is 'READY' and able to transmit the program
Begin Controller to printer program transfer ?
 is 'BUSY' and unable to transmit the  program
 did not respond and is unable to transmit the program
Printer
 is not ready
Printing Program AND parameters
SLO-SYN 2000 Parameters
Printing Parameter
SLO-SYN 2000 Program
Printing program line
PRINT Program
Select print format

|M28 Controller to disk text

Controller to Disk
Controller
 is 'READY' and able to transmit the program
Begin Controller to disk program transfer ?
 is 'BUSY' and unable to transmit the  program
 did not respond and is unable to transmit the program
Saving program and parameters to disk

|M29 Disk to Controller text

Disk to Controller
Controller
 is 'READY' and able to receive the program
The program and parameters in the Controller will be lost !
Begin disk to Controller program transfer ?
 is 'BUSY' and unable to receive the program
 did not respond and is unable to receive the program
Reading program and parameters from disk
Transmitting program and parameters to Controller
Transmitting Parameter
Transmitting program line

|M30 file control text

Program file name
Be sure to include path if necessary
Enter program file name
Create new file ?
Replace file ?
Load file ?
File NOT found
File already exists

|M31 Button text

< OK >,Accept current data/ responses and continue
< CANCEL >,Do not continue, return to previous level
< YES >,Answer "yes" to the prompt
< NO >,Answer "no" to the prompt
< EDIT >,Edit current data/responses
< RESUME CYCLE >,Resume current motion/program cycle
< CANCEL CYCLE >,Cancel/terminate current motion/program cycle
< PREV >,Go to previous summary screen
< QUIT >,Quit editing program and return to previous level
< NEXT >,Go to next summary screen
< TEXT >,Print program in text format
< RS-274 >,Print program in RS-274 format
< OPTION >,Select program option
< ERASE >,Erase (clear) text on highlighted line
< COPY >,Copy text on highlighted line to new line and copy buffer
< PASTE >,Paste copy buffer contents to new line
< MOVE >,Erase (clear) text on highlighted line, move to new line and copy buffer
< SAVE >,Save program to disk
< STANDARD INPUTS >,Select the standard front panel inputs
< EXPANSION INPUTS >,Select the expansion inputs
< STANDARD OUTPUTS >,Select the standard front panel outputs
< EXPANSION OUTPUTS >,Select the expansion outputs
< PLC >,Select the P.L.C. as the external data source
< BCD BANK 1 >,Select B.C.D. switch bank 1 as the external data source
< BCD BANK 2 >,Select B.C.D. switch bank 2 as the external data source
< CW >,Select the clockwise direction
< CCW >,Select the counterclockwise direction
< X AXIS >,Select the X axis
< Y AXIS >,Select the Y axis
< ACTIVE AXIS >,Use the currently selected axis
< DELETE >,Delete the current program from memory
< USER FLAGS >,Branch on user flags set or reset
< SYSTEM FLAGS >,Branch on system flags set or reset
< SAME DIRECTION >,Use the register sign for direction
< INVERT DIRECTION >,Use the opposite register sign for direction
< EXTEND >,Select the extend direction
< RETRACT >,Select the retract direction
< LEFT SIDE >, Motor is mounted on left side
< RIGHT SIDE >, Motor is mounted on right side

|M32 General text

Controller ID
Enter ID. number
Range: 1 - 99

Controller
 did NOT respond
 is still active

Program line number
Enter new program line number
Range: 1 - 400

Speed Change
Enter new speed
Range:

Save system defaults ?
Saving system defaults
Rescaling Program
Rescaling line
Program options
Load Program
Range:
HELP
 pulses
Message #1 goes here
Message #2 goes here
Message #3 goes here
Message #4 goes here
Message #5 goes here
Select the number of encoder lines

|M33 General program and parameter text

Reading parameters from Controller
Reading Parameter
Reading program from Controller
Reading program line
SLO-SYN 2000 G codes
SLO-SYN 2000 H codes
SLO-SYN 2000 L codes
SLO-SYN 2000 Parameters
SLO-SYN 2000 Program

|M34 Error Messages

Error - reading parameters from Controller
Error - reading program from Controller
Error - reading file from disk
Error - writing file to disk
Error - writing file to printer
Error - unable to open comport
Error - invalid file name
Error - invalid file extension
Error - invalid drive specification
Error - invalid file
Error - device unavailable
Error - path not found
Error - unable to open file
Error - downloading program to Controller

|M35 I/O text

 Program input
 X cw travel limit
 X ccw travel limit
 Feed hold
 Cycle start
 Cycle stop
 Cw direction(Manual)
 Ccw direction(Manual)
 Step/jog      (manual)
 Low/high      (manual)
 Motor windings on/off
 PLC data ready
 PLC data input
 Y/X axis select (manual)
 Y cw travel limit
 Y ccw travel limit

 Program output 'off'
 Program output 'on'
 Motion busy
 System busy
 At hard limit
 At cw limit
 At ccw limit
 At home position
 Position error
 X axis active
 Y axis active
 PLC strobe output
 Fault
 Following error
 Correction Cycle
 Unable to correct
 possible selections
 (max. 8)
* Default state at power up

|S01
Control two axes of motion
Does the application require the ability to
control two axes of motion ?

|S02
External data from a P.L.C
Does the application require the ability to
read data from a P.L.C. for any of the
following functions ?
move distance
speed
line number
Parameter
absolute position
This function will require the use of user configurable
inputs 1 through 9 and user configurable outputs 5 through 8

|S03
External data from B.C.D. switches
Does the application require the ability to
read data from B.C.D. switches for any of the
following functions ?
move distance
speed
line number
Parameter
absolute position
This function uses the expansion port for interfacing
to the B.C.D. switches

|S04
Jog under program control
Does the application require the ability to
jog under program control ?

|S05
Change speed or set speed modes
Does the application require the ability to
change speed or set speed modes during
program execution ?

|S06
Modify system parameters (L codes)
Does the application require the ability to
modify system parameters (L codes) during
program execution ?

|S07
Allow break point programming
Does the application require the use of
break point programming ?

|S08
Motor current control
Does the application require the use of boost,
reduce or windings off for user program control
of motor current ?

|S09
Default absolute position
Select the method used to initialize the absolute position
counter on power up
0.....Set absolute position counter to zero
1.....Restore the last electrical position
2.....Restore the last encoder position count

|S10
Default speed
Select the default speed to use on power up
0.....Manual jog speed
1.....Last index speed

|S11
Expansion port configuration
Assign the desired function to the expansion port
0.....Port is interfaced to B.C.D. switches
1.....Port is interfaced to expansion I/O (221020-001)
2.....Port is interfaced to BCD-I/O board (221526-001)

|S12
Closed loop configuration
Is the SLO-SYN 2000 Controller configured for
closed loop operation ?

|S13
Perform mark registration
Does the application require the ability to
perform mark registration ?

|S14
Establish home reference
Does the application require the ability to set
an electrical or mechanical home reference ?

|S15
TR1 (Trigger 1 input)
Assign the desired function to trigger input 1 for
mechanical home and/or mark registration cycle
0.....X axis positive edge triggered
1.....X axis negative edge triggered
2.....Y axis positive edge triggered
3.....Y axis negative edge triggered
4.....X axis encoder index marker pulse

|S16
TR2 (Trigger 2 input)
Assign the desired function to trigger input 2 for
mechanical home and/or mark registration cycle
0.....X axis positive edge triggered
1.....X axis negative edge triggered
2.....Y axis positive edge triggered
3.....Y axis negative edge triggered
4.....X axis encoder index marker pulse

|S17
Use software travel limits
Does the application require the use of
either Clockwise OR Counterclockwise
software travel limits ?

|S18
Manual position control
Does the application require the use of
manual positioning control ?

|S19
Perform backlash compensation
Does the application require the ability to
perform backlash compensation ?

|S20
Serial port communications
Will the Controller be controlled via the serial
port by host device such as a computer ?

|S21
transmit messages AND warnings
Does the application require the ability to
transmit messages and warnings to a host
device via the serial port ?

|S22
Program debug mode enabled
Enable program debug mode ?

|S23
Auto start on power up
Automatically start program execution
on power up

|S24
Program execution format
Select the desired program execution format
1.....Single line execution
2.....Automatic program execution
3.....Continuous program execution

|S25
Parameter display format
Select the desired parameter display format
1.....1 column
3.....3 columns

|S26
I/O Logic convention
Select the desired I/O logic convention
1.....Positive logic
2.....Negative logic

|S27
Programming level
Select the desired programming level
1.....Basic programming
2.....Advanced programming

|S28
Unit of measure
Select the unit of measure
< INCHES >,Programming units will be in inches
< MILLIMETER >,Programming units will be in millimeters

|S29
ELECTRAK 2000 identification number
Enter the ELECTRAK 2000 identification number
example: BP9305-A6506-FXN

|S30
Profile
Select the MOVOPART profile
< 90 mm >,90 millimeter profile
< 140 mm >,140 millimeter profile

|S31
Transmission system
Select the MOVOPART transmission system
< SCREW >,screw drive transmission
< BELT >,belt drive transmission

|S32
Gear ratio
Enter the MOVOPART gear ratio
example: 1, 3, 5.5, 7.5, 10, etc.

|S33
Screw lead
Select the MOVOPART screw lead
< 6.35 mm >,6.35 millimeter screw lead
< 10 mm >,10 millimeter screw lead
< 25 mm >,25 millimeter screw lead

|S34
RAPIDTRAK identification number
Enter the RAPIDTRAK identification number
example: TS09C12P

|S35
Register initialization
Select the method used to initialize the general 
purpose registers on power up
0.....Set register contents to zero
1.....Restore the last register values

|S36
Gear ratio
Enter the RAPIDTRAK gear ratio
example: 1, 3, 5.5, 7.5, 10, etc.

|S37
MOVOPART identification number
Enter the MOVOPART identification number
example: M140RT2A34,L=3345

|S38
Motor mounting
Motor       Ŀ              Ŀ   Motor 
Left side   SADDLE              SADDLE   Right Side
          Ŀ          Ŀ
¿ ڴ                              ÿ Ŀ
STEP Ĵ          Ŀ      Ĵ          ĴSTEP 
MOTORĴRAPIDTRAK       ĴRAPIDTRAK ĴMOTOR
             DRIVEN             
                       END               
                     
   Select either left or right side motor mounting          

|L01
L01 Message #1
Enter message #1
20 character Maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,~

|L02
L02 Message #2
Enter message #2
20 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,~

|L03
L03 Message #3
Enter message #3
20 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,~

|L04
L04 Message #4
Enter message #4
20 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,~

|L05
L05 Message #5
Enter message #5
20 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,~

|L06
L06 Program execution format

|L08
L08 Mechanical home direction
Enter the mechanical home direction
Range: (+)CW or (-)CCW
Range: Extend or Retract

|L09
L09 Manual jog speed
Enter the manual jog speed
Range:

|L10
L10 Deceleration
Enter the deceleration rate
Range:

|L11
L11 Acceleration
Enter the acceleration rate
Range:

|L12
L12 Low speed
Enter the low speed
Range:

|L13
L13 Step distance
Enter the distance to move in step mode
Range:

|L14
L14 Return to home speed
Enter the return to home speed
Range:

|L16
L16 Mark registration travel limit
Enter the mark registration travel limit distance
0 will disable limit
Range:

|L17
L17 Mechanical home offset
Enter the mechanical home offset direction & distance
Range:

|L18
L18 Clockwise travel limit
Enter the CW software travel limit distance
(-) value will disable limit
Range:

|L19
L19 Counterclockwise travel limit
Enter the CCW software travel limit distance
(+) value will disable limit
Range:

|L20
L20 System configuration

|L26
L26 Transmission protocol
Select the desired transmission protocol

Xon/Xoff protocol enabled
0.....Normal mode (no "EOT" or "=")
1....."EOT" follows each complete transmission
2....."=" is transmitted when ready
3....."EOT" and "=" are enabled (1 & 2 above)

Xon/Xoff protocol disabled
4.....Normal mode (no "EOT" or "=")
5....."EOT" follows each complete transmission
6....."=" is transmitted when ready
7....."EOT" and "=" are enabled (5 & 6 above)

|L41
L41 Program start line number
Enter the program start line number
Range: 1 to 400

|L43
L43 Backlash delay
Enter the delay between index and backlash compensation
Range: 0 to 9999 milliseconds

|L44
L44 Delay after motion
Enter the delay after a programmed index move
Range: 0 to 9999 milliseconds

|L47
L47 Program execution repeat count
Enter the program execution repeat count
Range: 0 to 9999 repeats

|L48
L48 Program line count list/clear
Enter the number of program lines to list or clear
Range: 1 to 400

|L49
L49 First parameter to list

|L50
L50 Parameter list count

|L52
L52 Buffer full warning message
Enter the buffer full warning message (e.g. BUF )
3 character Maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,

|L53
L53 Following error warning message
Enter the following error warning message (e.g. FER )
3 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,

|L54
L54 Position error warning message
Enter the position error warning message (e.g. PER )
3 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,

|L55
L55 Line done message
Enter the line done message (e.g. LND )
3 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,

|L56
L56 Program done message
Enter the program done message (e.g. PGM )
3 character maximum
A-Z, a-z, 0-9, !#%&'()+-./\:;=>[]{}_^,

|L58
L58 Input configuration

|L59
L59 Output configuration

|L66
L66 Backlash compensation
Enter the backlash compensation direction & distance
0 will disable compensation
Range:

|L71
L71 Maximum speed
Enter the maximum allowable speed
Range:

|L72
L72 Velocity profile
Select the type of velocity profile desired
0.....trapezoidal profile
1.....hyperbolic profile
2....."S" shaped profile

|L73
L73 Speed increment
Enter the increment for the speed increase and decrease commands
Range:

|L87
L87 Following error
Enter the maximum allowable following error
Range:

|L90
L90 Closed loop operation
Select the type of closed loop operation desired
0.....closed loop disabled
1.....halt on position error
2.....automatic correction
3.....automatic restart

|L91
L91 External move data scale factor
Enter the external move distance data scale factor
Range: 1 - 99999999 scale factor

|L93
L93 Position deadband
Enter the size of the position deadband
Range:

|L94
L94 Invert encoder direction
Invert encoder direction ?

|L95
L95 Encoder scale factor
Enter the number of encoder lines per motor revolution

|L96
L96 Position correction attempts
Enter the number of attempts to correct a position error
Range: 1 - 9999 attempts

|L97
L97 Delay between correction attempts
Enter the delay between position correction attempts
Range: 0 - 9999 milliseconds

|L98
L98 Automatic transmission delay
Enter the delay between automatic H code serial transmissions
Range: 0 - 9999 milliseconds

|P00
G04 Delay
G05 Transmit message
G06 Simulate !Hcode
G10 Mark registration
G11 Call Subroutine at line
G12 Go to line
G19 Branch on result
G20 Branch on input(s)
G21 Register control
G22 Wait for input(s)
G23 Increase speed
G24 Decrease speed
G25 Loop start
G26 Loop end
G27 High speed mode
G28 Low speed mode
G29 Change parameter
G30 Program end
G31 Program stop
G32 Return from subroutine
G36 Read external move distance
G37 Read external line number
G38 Read external feed rate
G47 Set output(s)
G48 Start program jog
G49 Stop program jog mode
G50 Set internal flag(s)
G51 Branch on internal flag(s)
G52 Select PLC/BCD switch bank
G53 Select I/O port
G54 Register execution
G55 Error trapping line
G60 Enable continuous execution
G61 Disable continuous execution
G62 Wait for distance
G63 Wait for velocity
G64 Reduce on
G65 Reduce off
G66 Boost on
G67 Boost off
G68 Windings off
G69 Windings on
G76 Ret. to elect. home
G77 Set elect. home
G78 Ret. to mech. home
G79 Set absolute position
G90 Absolute mode
G91 Incremental mode

L01 Message #1
L02 Message #2
L03 Message #3
L04 Message #4
L05 Message #5
L06 Program execution format
L08 Mechanical home direction
L09 Manual jog speed
L10 Deceleration
L11 Acceleration
L12 Low speed
L13 Step distance
L14 Home speed
L16 Mark registration travel limit
L17 Mechanical home offset
L18 Clockwise software travel limit
L19 Counterclockwise software travel limit
L20 System configuration
L26 Transmission protocol
L41 Program start line number
L43 Backlash compensation delay
L44 Delay after motion
L47 Program execution repeat count
L48 Program line count list/clear
L49 First parameter to list
L50 Parameter list count
L52 Buffer full warning message
L53 Following error warning message
L54 Position error warning message
L55 Line done message
L56 Program done message
L58 Input configuration
L59 Output configuration
L66 Backlash compensation
L71 Maximum speed
L72 Velocity profile
L73 Speed increment
L87 Following error
L90 Closed loop configuration
L91 External move distance scale factor
L93 Position deadband
L94 Invert encoder direction
L95 Encoder scale factor
L96 Position correction attempts
L97 Delay between correction attempts
L98 Delay between automatic transmissions

H01 Cycle start
H02 Step mode
H03 Jog mode
H04 High speed mode
H05 Low speed mode
H06 Cw direction
H07 Ccw direction
H08 Return to electrical home
H09 Set electrical home
H10 Return to mechanical home
H11 Clear current program line
H12 Clear program
H13 TX current program line
H14 TX program
H15 TX current line number
H16 TX parameters
H17 TX absolute position
H19 TX mode status
H20 TX output status
H21 TX input status
H22 TX encoder position
H23 TX software revision level
H24 Enable trace mode
H25 Disable trace mode
H26 TX position error
H27 TX verification status
H29 TX program execution time
H31 Increase speed
H32 Decrease speed
H33 Set incremental position mode
H34 Set absolute position mode
H35 Motor windings on
H36 Motor windings off
H37 Enable boost current
H38 Disable boost current
H39 Enable reduce current
H40 Disable reduce current
H41 TX program repeat count
H42 TX last external BCD value
H43 TX opto22 I/O status
H44 TX registers
H60 TX present speed
H85 TX system error status
H86 TX data error status
H87 TX program error line number
H88 TX execution status
