Here are the steps required to make a proper back up for a 6000 series controller.
1.Upload the programs from the working unit.
2. Go to the terminal Emulator. Issue the following commands and make note of the responses from the controller. If the controller is busy running a program, it will be necessary to insert an "!" before each command (example: !SCALE).
SCALE
SCLD
SCLV
SCLA
SCLMAS
STARTP
3.Open up the uploaded file. It should look something like this:
DEL Setup
DEF Setup
...
END
4.Insert the four scaling commands above the first line of the uploaded code. It should look something like this:
SCALE 1
SCLA 25000
SCLD 12500
SCLV 25000
SCLMAS 4000
DEL Setup
DEF Setup
...
END
Please note that this example is for a single axis controller. These are example values and you should use values that you uploaded from the old controller.
5. After the last END statement, insert the STARTP command. The last line of the uploaded code should be END It should look something like this:
END
STARTP Setup
Now save this file. You have successfully created a back up file for your controller.
Note: not all applications use SCLMAS; this is a scaling factor for the master and used in following/gearing applications. This affects FOLRN, etc and thus needs to be outside program like the other scaling parameters.
If scaling is not set the affect parameters such as D for distance will not be correct if you do a TPROG SETUP in the terminal (or other program -- see TDIR to see list of programs) and compare with the program editor.