48
APEX615n Installation Guide
Connections Test Procedure Response Format (left to right)
End-of-travel
and Home
limits
NOTE: If you are not using end-of-travel limits, issue the Disable Limits (LHØ) command and
ignore the first two bits in each response field.
1. Enable hard limits using the LH3 command.
2. Close the end-of-travel switches and open the home switch.
3. Enter the TLIM command. The response should be *TLIM11Ø.
4. Open the end-of-travel switches and close the home switch.
5. Enter the TLIM command. The response should be *TLIMØØ1.
6. Close the POS end-of-travel switch and open the home switch.
6. Enter the TLIM command. The response should be *TLIM1ØØ.
TLIM response:
bit 1 = POS limit
bit 2 = NEG limit
bit 3 = home limit
Internal
Encoder
Feedback
(Resolver-
based Encoder)
1. Enter these commands: L<cr>, TPE<cr>, T.3<cr>, and LN<cr>. This will begin a
continuous display of the encoder's position. Press the <return> key to move the display to
the next line and save the current value.
2. Manually rotate the encoder shaft and verify that the position changes as you rotate the
encoder shaft. If you connected the encoder as instructed earlier in this chapter, turning the
shaft clockwise should increase the position reading. If the reading does not change, or if
the direction is reversed, check the connections.
3. When finished, enter the !K (immediate Kill) command to stop the continuous report-back.
TPE response (encoder counts ):
±encoder counts
Motor (motion) NOTE: Use default settings for all parameters (if necessary, issue a RESET command to
return the settings to their defaults). Make sure that the motor is properly supported, with
no load attached to the shaft.
1. Enter the DRIVE1 command to enable the drive. The Enable LED will illuminate, and the
Disable LED will turn off.
2. Enter the LH0 command to disable the hard limits.
3. Enter the GO command. to initiate motion. The motor turns one revolution in the clockwise
direction, using the default motor parameters (A=10.0000, V=1.0000, D=+4096).
4. Enter the D- command to change the move direction to counterclockwise (D=-4096).
5. Enter the GO command. to initiate motion. The motor turns one revolution in the
counterclockwise direction.
NOTE: If the motor does not turn, or does not turn in the correct direction, check the DIP
switch settings and cable connections, and perform the test procedure again. If you
change DIP switch settings, cycle power before you continue operations.
Direction of rotation:
Counter-clockwise
(negative counts)
Clockwise
(positive counts)
Programmable
Inputs
(incl. triggers)
1. Open the input switches or turn off the device driving the inputs.
2. Enter the TIN command.
The response should be *TINØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ.
3. Close the input switches or turn on the device driving the inputs.
4. Enter the TIN command.
The response should be *TIN1111_1111_1111_1111_11.
TIN response:
bits 1-16 = prog. inputs 1 - 16
bits 17 & 18 = TRG-A & TRG-B
Programmable
Outputs
1. CAUTION: Disconnect all programmable outputs before proceeding to step 2.
2. Enter the OUTALL1,9,1 command to turn on (sink current on) all outputs.
3. Enter the TOUT command.
The response should be *TOUT1111_1111_1.
4. Enter the OUTALL1,9,Ø command to turn off all outputs.
5. Enter the TOUT command.
The response should be *TOUTØØØØ_ØØØØ_Ø.
TOUT response:
bits 1-8 = prog. outputs 1 - 8
bit 9 = OUT-A
RP240 1. Cycle power to the APEX615n.
2. If the RP240 is connected properly, the RP240's status LED should be green and one of the
messages on the computer or terminal display should read *RP24Ø CONNECTED.
If the RP240's status LED is off, check to make sure the power connections are secure.
If the RP240's status LED is green, but the message on the terminal reads “*NO REMOTE
PANEL”, the RP240 Rx and Tx lines are probably switched. Remove power and correct.
3. Assuming you have not written a program to manipulate the RP240 display, the RP240
screen should display the following:
COMPUMOTOR 615N SERVO CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
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