Lenze PMSS1000 Simple Servo - Manual (Page 10)

Indexer-Programmer-Manual.pdf REV 1.3
After the text has been entered, select <Compile and load> from <Indexer> menu. After compilation is
done, message box will be displayed suggesting that our program has errors. Click <OK> to dismiss
dialog. The message window (bottom portion of your screen) will display Compiler error(s). Program line
with an error is highlighted. The line "MOVEDISTANCE -10" generated syntax error because
"MOVEDISTANCE" not a valid command. Change text "MOVEDISTANCE" to "MOVED" :
UNITS=1
ACCEL = 5
DECEL = 5
ENABLE
MOVED 10
MOVED -10
END
Select <Compile and load> again from <Indexer> menu. There should no longer be any errors. Since
program was successfully compiled, it gets loaded to the drive memory and ready to run. Run the
program by selecting <RUN> from <Indexer> menu. After program finishes, drive stays enabled. Click
<Indexer->Restart> to disable the drive and reset program execution from the start. Note that program
doesn't run itself automatically. You have to select <Indexer->Run> to run it again.
After you are done with writing the program and drive setup you can save them by using <Node|Save
configuration As.>. Indexer program is a part of drive configuration and also saved in the same file. There
will be a time when you need to import (or export) program source to the other drive or perhaps you
prepared program off-line and what to load it to drive later. You can use Indexer|Load from text file> menu
to load program source to the drive. You also can open new configuration file by selecting <Node| New
configuration file>, go to "Indexer program" folder on the left tree, and type your program in the right pane,
then save configuration file to the disk and later load it to the drive memory by selecting <Node|Load
configuration file to drive> menu. Remember that when you do so, drive configuration parameters will also
be loaded. If you want to preserve drive configuration and load a program only, use file-importing method
described above.
Units
All motion statements in the drive work with User units. Statement on first line of the test program
UNITS=1, sets the relationship between User units and motor revolutions. It simply answers the question:
"How many User units in one motor shaft revolution?" If this statement is omitted from the program, the
motor will operate with encoder counts as User units.
Time base
Time base always in seconds i.e. all time-related values are set in USER UNITS/SEC.
Enable/Disable
After execution of the statement ENABLE, drive will be enabled. If drive was disabled before execution of
that statement then the absolute position counter will be reset to zero.
Execution of the statement DISABLE will disable the drive and clear motion stack.
Attempt to produce motion when drive is disabled will generate fault.
10