WindowsThe windows ribbon allows you to turn on or off the various windows. TerminalThe terminal window is the main path of communication for messages sent from and to the motor. Any information transmitted from the motor will appear in the terminal window. You can also use the terminal text entry to send single line commands to the motor, one at a time. If you want to query anything from the motor, you can send that command here and the response from the motor will be displayed in the above terminal window. GraphThe graph window allows you to get real time information from the motor. By selecting speed, position, or torque from the plot menu and selecting enable, the software will graph those values from the motor. There is also an option to graph a custom value, such as a variable in the motor which you want feedback on. You can also graph other ranges of values by selecting the K66 option. The time between graph points in milliseconds can be adjusted by changing the value in the data period field. 10ms is the lowest recommended value.In the top left corner of the graph window, you can also outputs the graph as an image, print the graph, or output the graph as a set of comma separated values for use in a spreadsheet program. ControlThe control window presents a set of commonly used simple controls and queries as easy to use buttons. You can perform functions such as enable/disable the motor, as well as setting the origin, homing, stepping through a program bank or jogging the motor in either direction with the an easy to use interface. The query section also allows you to check the current position, speed, torque, position error, and status. The responses from the queries will appear in the terminal window. CMP/CMLThe CMP/CML window is window that you will probably spend the most time in. This is the area in which you will write any programs to be downloaded to a motor. The text size in the window can be changed by holding in the CTRL key and moving the mouse wheel up or down. In the case of a CMP window, this will also allow you to write comments, named variables and other advanced functions of a CMP program. For more details, see CML vs. CMP. |