Aerotech UNIDEX 500 User manual

SUBJECT:
Unidex 500 Motion Controller and
Windows Software Operation & Technical
Manual
PREPARED BY: Aerotech, Inc.
101 Zeta Drive
Pittsburg, PA
15238-2897
USA
Used with permission
from Aerotech, Inc.
DOCUMENT No: SPIRE-UOL-DOC-001519
ISSUE: Date: February 3, 2003
APPROVED BY: Date:

THE UNIDEX500 MOTION
CONTROLLER AND WINDOWS SOFTWARE
OPERATION & TECHNICAL MANUAL
P/N: EDU150 (V1.3a)
AEROTECH, Inc. •101 Zeta Drive •Pittsburgh, PA. 15238-2897 •USA
Phone [phone] •Fax[phone]
Product Service: [phone]; [phone] (Fax)
www.aerotechinc.com

If you should have any questions about the UNIDEX 500 or comments regarding the documentation, please refer to
Aerotech online at:
http://www.aerotechinc.com.
For your convenience, a product registration form is available at our web site.
Our web site is continually updated with new product information, free downloadable software and special pricing on
selected products.
The UNIDEX 500 PC-based motion controller, Toolkit, and MMI software packages are products of Aerotech, Inc.
Borland C is a product of Borland International, Inc.
IBM PC/AT bus is a registered trademark of International Business Machines, Inc.
Inductosyn is a registered trademark of Farrand Industries, Inc.
iSBX is a registered trademark of Intel Corporation.
MS-DOS, QuickBASIC and Windows are products of Microsoft Corporation.
The UNIDEX 500 Motion Controller and Windows Software
Operations and Technical Manual Revision History:
Rev 1.0 April 18, 1995
Rev 1.1June26,1995
Rev 1.2 June 14, 1996
Rev 1.3July 5,2000
Rev 1.3a November 17, 2000

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. iii
TABLE OF CONTENTS
CHAPTER 1: INTRODUCTION............................................................................ 1-1
1.1. Overview of the UNIDEX 500 System...............................................1-1
1.2. The UNIDEX 500 Family of Controllers........................................... 1-1
1.2.1. The UNIDEX 500 Base Model (U500) ...............................1-2
1.2.2. The UNIDEX 500 Plus Model (U500PLUS)....................... 1-3
1.2.3. The UNIDEX 500 Ultra Model (U500ULTRA).................. 1-3
1.3. Ordering Information.......................................................................... 1-3
1.4. Options and Accessories..................................................................... 1-5
1.5. Safety Procedures and Warnings........................................................ 1-6
CHAPTER 2: GETTING STARTED...................................................................... 2-1
2.1. Introduction........................................................................................ 2-1
2.2. Unpacking the UNIDEX 500 System................................................. 2-1
2.3. Inspection of the UNIDEX 500 Control Board.................................. 2-2
CHAPTER 3: SOFTWARE INSTALLATION AND FUNDAMENTALS.......... 3-1
3.1. Introduction........................................................................................ 3-1
3.2. Minimum Hardware Requirements and Recommended System
Configurations.................................................................................... 3-1
3.3. Standard Installation Using Windows NT 4.0 or 95........................... 3-2
3.4. Installing the UNIDEX 500 PC Board ...............................................3-3
3.5. Software Startup................................................................................. 3-4
3.5.1. U500 ISA Base Address Jumpers (JP4, JP5, JP6, JP7,
JP8, and JP9)........................................................................ 3-4
3.5.2. Configuring the Software to Match the Hardware................ 3-5
3.5.3. Configuration of the Software for the ISA Board................. 3-6
3.5.4. Configuring the Software for the PCI Board........................ 3-6
3.5.5. Initializing the U500 Board.................................................. 3-7
3.6. Software Configuration Considerations.............................................. 3-9
3.6.1. Configuring Key Parameters................................................ 3-9
3.7. Special Startup Considerations......................................................... 3-11
3.7.1. Feedback Verification........................................................ 3-15
3.7.2. Limit Verification............................................................... 3-15
3.7.3. Preliminary Servo Loop Setup ...........................................3-15
CHAPTER 4: THE SOFTWARE INTERFACE.................................................... 4-1
4.1. Introduction........................................................................................ 4-1
4.2. The File Menu.................................................................................... 4-2
4.2.1. The Project... Option of the File Menu................................. 4-3
4.2.2. The Parameters... Option of the File Menu.......................... 4-3
4.2.3. The Firmware... Option of the File Menu............................. 4-3
4.2.4. The Load Program... Option of the File Menu.....................4-3
4.2.5. The Reset Option of the File Menu...................................... 4-4
4.2.6. The Exit Option of the File Menu ........................................ 4-4
4.3. The Edit Menu.................................................................................... 4-4
4.3.1. The Project... Option of the Edit Menu................................ 4-4
4.3.2. The Parameters... Option of the Edit Menu.......................... 4-5
4.3.2.1. Edit Parameters: The File Submenu....................... 4-6

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iv Aerotech, Inc. Version 1.3
4.3.2.2. Edit Parameters: The Number, Value, and
Axis Fields ............................................................. 4-6
4.3.3. System Options.....................................................................4-7
4.3.4. The Program Option of the Edit Menu...............................4-14
4.4. The Tools Menu ...............................................................................4-15
4.4.1. The Diagnostics Option of the Tools Menu .......................4-15
4.4.2. The Demo Option of the Tools Menu ................................4-19
4.4.3. The Axis Tuning... Option of the Tools Menu...................4-20
4.4.3.1. Axis Scope: The File Submenu............................4-20
4.4.3.2. Axis Scope: The Plot Submenu............................4-21
4.4.3.3. Axis Scope: The Trigger Submenu......................4-22
4.4.3.4. Axis Scope: The Collect Submenu.......................4-23
4.4.3.5. Axis Scope: The Display Submenu......................4-24
4.4.3.6. Axis Scope: The Axis Submenu...........................4-24
4.4.3.7. Axis Scope: The Units Submenu..........................4-25
4.4.3.8. Axis Scope: The Tools Submenu.........................4-25
4.4.4. The Joystick Digitizing Option of the Tools Menu............4-31
4.4.5. The “Diagnostics 2” Option of the Tools Menu.................4-33
4.4.6. The Variable Watch Option of the Tools Menu.................4-34
4.5. The Windows Menu .........................................................................4-35
4.5.1. The Functions Option of the Windows Menu.....................4-35
4.5.1.1. The F2 Abort Button............................................4-36
4.5.1.2. The F3 Pause/Resume Button..............................4-36
4.5.1.3. The F4 Load Button and the Program
Display Window...................................................4-36
4.5.1.4. The F5 Jog Button................................................4-38
4.5.1.5. Password Protection.............................................4-39
4.5.1.6. The F7 Diag Button..............................................4-42
4.5.1.7. The F8 Fault Ack Button......................................4-42
4.5.1.8. The F9 Reset Button ............................................4-42
4.5.2. The Status Option of the Windows Menu ..........................4-43
4.5.3. The Jog Option of the Windows Menu...............................4-45
4.5.4. The Gain Adjust Option of the Windows Menu.................4-45
4.5.5. The MDI Option of the Windows Menu ............................4-45
4.5.6. The MFO Option of the Windows Menu ...........................4-46
4.5.7. The Axis Display Option of the Windows Menu ...............4-46
4.6. The Functions Menu.........................................................................4-48
4.7. The Help Menu.................................................................................4-49
CHAPTER 5: PARAMETERS................................................................................5-1
5.1. Introduction ........................................................................................5-1
5.2. The Edit Parameters Window.............................................................5-1
5.2.1. The Menu Bar of the Edit Parameters Window....................5-2
5.2.2. The Parameter Tabs..............................................................5-2
5.2.3. The Scrollable Parameter Display Window .........................5-2
5.2.4. The Parameter Number Field ...............................................5-2
5.2.5. The Parameter Value Field...................................................5-3
5.2.6. Axis Number Radio Buttons.................................................5-4
5.3. The Position Tracking Tab.................................................................5-5
5.3.1. Keep Axis Position after Reset (Y/N) ..................................5-6
5.3.2. Axis nRollover Machine Steps for Axes 1-4.......................5-7

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. v
5.3.3. PSO Mailbox Dual_port RAM Base Address...................... 5-8
5.3.4. PSO-HOST and PC Interface Address (U500 ISA -
16 bit MMI software only)................................................... 5-9
5.3.5. Plane nMetric System (Y/N) ............................................. 5-10
5.3.6. Metric Mode Number of Decimal Digits (1-8)................... 5-11
5.3.7. English Mode Number of Decimal Digits (1-8)................. 5-12
5.4. The Advanced Motion Tab............................................................... 5-13
5.4.1. Overview of Planes ............................................................ 5-14
5.4.2. Number of Contour Planes (1, 2, 4) ................................... 5-17
5.4.3. Axis nMap to Plane {1-4} as {X, Y, Z, U}....................... 5-19
5.4.4. Axis nGantry {Y/None}, Slave {1, 2, 3, 4} ...................... 5-20
5.4.5. Plane nIndexing Segment Time (1-20 ms)........................ 5-23
5.4.6. Linear Type Ac/De (Y/N).................................................. 5-24
5.4.7. Clamp Feedrate (Program Steps/ms).................................. 5-25
5.4.8. Corner Rounding Non-Ramp Time (1-32,000 ms)............. 5-26
5.4.9. Contouring Mode ............................................................... 5-28
5.4.10. A/D Channel nJoystick Deadband..................................... 5-29
5.4.11. A/D Channel nJoystick Center Position ............................ 5-30
5.4.12. Safe Zone Output Bit (0-8)................................................. 5-30
5.4.13. Option Board Setup Code.................................................. 5-31
5.4.14. User Interrupt Setup Code.................................................. 5-32
5.4.15. Abort On Input High (0, 1-16) ........................................... 5-32
5.5. The Basic Motion Tab...................................................................... 5-33
5.5.1. MFO, 0 No MFO-pot, 1-255 Pot Offset............................. 5-34
5.5.2. Plane nContour Ramping Time (ms)................................. 5-35
5.5.3. Contour Feedrate (Program Steps/ms) for Plane n............. 5-36
5.5.4. X, Y, Z, and U Axes’ Point-to-point Feedrates
(Program Steps/ms) for Plane n.......................................... 5-36
5.6. The Homing and Limits Tab............................................................. 5-37
5.6.1. The Home Cycle................................................................. 5-38
5.6.2. Home Direction is CCW (Y/N).......................................... 5-40
5.6.3. Home Switch Normally Open (Y/N).................................. 5-41
5.6.4. Power-on Home Feedrate (Machine Steps/ms).................. 5-42
5.6.5. Normal Home Feedrate (Machine Steps/ms) ..................... 5-43
5.6.6. Home Offset (Machine Steps)............................................ 5-43
5.6.7. Home Switch to Marker (Machine Steps) – U500 ISA
Only.................................................................................... 5-44
5.6.8. Home/Limit Switch Debounce (ms)................................... 5-45
5.6.9. Limit Switch Normally Open (Y/N)................................... 5-45
5.6.10. Switch to Mechanical Stop (Machine Steps)...................... 5-46
5.6.11. CCW Software Limit (Machine Steps)............................... 5-46
5.6.12. CW Software Limit (Machine Steps)................................. 5-46
5.6.13. Enable Vel/Accel Feedforward During Home (Y/N)......... 5-47
5.6.14. Use Home Limit During Home Cycle (Y/N)...................... 5-48
5.6.15. Safe Zone Limits (Machine Steps)..................................... 5-48
5.6.16. Home/Limit Switch Debounce (Steps)............................... 5-49
5.6.17. Home Marker Search Speed (Machine Steps/ms) –
U500 ISA Only .................................................................. 5-49
5.7. The Traps Tab .................................................................................. 5-50
5.7.1. Max Ac/De (Machine Steps/ms/ms)................................... 5-51
5.7.2. Top Feedrate (Machine Steps/ms)...................................... 5-52
5.7.3. Max Velocity Error (0-8,388,607) ..................................... 5-53

Table of Contents UNIDEX 500 and Software
vi Aerotech, Inc. Version 1.3
5.7.4. Max Position Error (0-8,388,607)......................................5-54
5.7.5. Max Integral Error (0-8,833,607).......................................5-55
5.7.6. RMS Current Trap (0-100%) .............................................5-56
5.7.7. RMS Current Sample Time (1-16,383 ms).........................5-58
5.7.8. Clamp Current Output (0-100%)........................................5-59
5.7.9. Output Bit for AUX OUTPUT...........................................5-60
5.7.10. Drive Fault Signal Active Low...........................................5-61
5.7.11. AUX OUTPUT Active High..............................................5-61
5.8. The Motor and Feedback Configuration Tab....................................5-62
5.8.1. Introduction to Motors and Feedback Configurations........5-63
5.8.2. Motor Feedback and Configuration Parameters.................5-71
5.8.3. Primary/Position Feedback Channel...................................5-72
5.8.3.1. Encoder Gantry Mode..........................................5-73
5.8.4. Secondary/Velocity Feedback Channel..............................5-75
5.8.5. Primary Feedback Setup Code ...........................................5-76
5.8.6. Secondary Feedback Setup Code .......................................5-76
5.8.7. Drive (Motor) Type (0-DC Brush, 1-AC Brushless,
2/3-Stepper)........................................................................ 5-77
5.8.8. AC Brushless Motor Commutation Factor
(Cycles/Rev).......................................................................5-78
5.8.9. Encoder Feedback (Steps/Rev/(*4))...................................5-79
5.8.10. AC Brushless Motor Phase Offset (Degrees).....................5-79
5.8.11. Stepper High Current (0-100%) .........................................5-80
5.8.12. Stepper Low Current (0-100%)..........................................5-80
5.8.13. Stepper Microstepping Resolution (Steps/Rev)..................5-80
5.8.14. Stepper Encoder Verification (Y/N)...................................5-81
5.8.15. Stepper Encoder Speed (Microsteps/ms)............................5-81
5.8.16. AC Brushless Motor Phase Advance Base Speed
(Steps/ms)...........................................................................5-82
5.8.17. AC Brushless Motor Base Speed Advance (Degrees)........5-83
5.8.18. AC Brushless Motor Phase Speed (steps/ms).....................5-83
5.8.19. AC Brushless Motor Phase Speed Advance (Degrees) ......5-83
5.8.20. Current Command Offset Parameters (mV) .......................5-83
5.8.21. Encoder Multiplication.......................................................5-83
5.9. The Servo Loops Tab .......................................................................5-84
5.9.1. Notch Filter (Y/N)..............................................................5-85
5.9.2. Kpos (0-8,388,607)(Position Loop Gain)...........................5-85
5.9.3. Ki (0-8,388,607)(Velocity Loop Integrator) ......................5-85
5.9.4. Kp (0-8,388,607)(Velocity Loop Proportional Gain).........5-86
5.9.5. Vff (0-8,388,607)(Velocity Feed Forward)........................5-86
5.9.6. Aff (0-8,388,607)(Acceleration Feed Forward) .................5-86
5.9.7. Notch Filter Coefficient N0, N1, N2, D1, and D2..............5-87
5.9.7.1. The Notch Filter...................................................5-87
5.9.7.2. Notch Filter Example...........................................5-89
5.9.7.3. The Second Order Low Pass Filter ......................5-91
5.9.8. Servo Loop Update Rate (1-100) x 0.25 ms.......................5-92
5.9.9. Servo Loop Type................................................................5-92
5.9.10. Filter Time Constant...........................................................5-93
5.10. The Other Tab ..................................................................................5-94
5.10.1. Metric (x00) and English (x01) Conversion Factors..........5-95
5.10.2. Positive (+) Move is Clockwise (Y/N)...............................5-98
5.10.3. Positive (+) Jog is Same Direction as + Move (Y/N).........5-99

UNIDEX 500 and Software Table of Contents
Version 1.3 Aerotech, Inc. vii
5.10.4. Pause Enable in Freerun (Y/N) ..........................................5-99
5.10.5. MFO Enable in Freerun (Y/N)......................................... 5-100
5.10.6. Calibration Enable (Y/N) ................................................. 5-100
5.10.7. In Position Deadband (Machine Steps)............................ 5-101
5.10.8. Backlash (Machine Steps)................................................ 5-102
5.10.9. Joystick: High Speed (Machine Steps/sec)....................... 5-103
5.10.10. Joystick: Low Speed (Machine Steps/sec) ....................... 5-103
5.10.11. Absolute Mode Scale (Machine Steps) ............................ 5-104
5.10.12. Orthogonality Correction Table Enabled (Y/N)............... 5-104
5.10.13. 2-D Error Mapping Enabled (Y/N).................................. 5-105
5.10.14. Reverse Joystick Direction............................................... 5-105
5.11. The Faults Tab................................................................................ 5-106
5.11.1. Introduction to Fault Masks ............................................. 5-106
5.11.2. Error Mask Fault.............................................................. 5-108
5.11.3. Disable Axis..................................................................... 5-108
5.11.4. Interrupt PC...................................................................... 5-108
5.11.5. AUX OUTPUT ................................................................ 5-109
5.11.6. Halt Queue ....................................................................... 5-109
5.11.7. Abort Motion.................................................................... 5-109
5.11.8. Enable Brake.................................................................... 5-110
5.12. The General Tab............................................................................. 5-111
5.13. The Axis Tab.................................................................................. 5-112
CHAPTER 6: TUNING SERVO LOOPS............................................................... 6-1
6.1. Introduction........................................................................................ 6-1
6.2. The Axis Scope Toolbars................................................................... 6-2
6.2.1. Kp Proportional Gain........................................................... 6-3
6.2.2. Ki Integral Gain....................................................................6-3
6.2.3. Kpos Position Gain .............................................................. 6-3
6.2.4. Vff Velocity Feedforward Gain............................................ 6-3
6.2.5. Aff Acceleration Feedforward Gain..................................... 6-3
6.3. Autotuning.......................................................................................... 6-4
6.3.1. Setting up an Excitation ....................................................... 6-4
6.3.2. Specifying Desired Performance.......................................... 6-4
6.3.3. Bandwidth and Damping...................................................... 6-4
6.3.4. Procedure ............................................................................. 6-5
6.3.5. Dual Loop Systems .............................................................. 6-8
6.3.6. Guidelines and Limitations................................................... 6-8
6.4. Manual Tuning Procedure for Servo Loops ....................................... 6-9
6.5. Tuning Tips ...................................................................................... 6-19
6.6. Tachometer Feedback Basics ........................................................... 6-20
6.6.1. In-Position Integrator ......................................................... 6-20
6.6.2. Velocity Feed Forward....................................................... 6-20
6.6.3. Servo Parameter Setup for Tachometer Feedback ............. 6-20
6.6.4. The Axis Scope Toolbars................................................... 6-21
6.6.4.1. Kpos Position Gain.............................................. 6-21
6.6.4.2. Ki In-Position Integrator...................................... 6-21
6.6.4.3. Vff Velocity Feedforward Gain ........................... 6-21
6.6.4.4. Kp Proportional Gain........................................... 6-21
6.6.4.5. Aff Acceleration Feedforward Gain..................... 6-21
6.7. Tuning Tachometer Loops................................................................ 6-22

Table of Contents UNIDEX 500 and Software
viii Aerotech, Inc. Version 1.3
CHAPTER 7: PROGRAMMING COMMANDS ..................................................7-1
7.1. Introduction ........................................................................................7-1
7.2. Program Execution Levels..................................................................7-2
7.2.1. Board Level Execution.........................................................7-2
7.2.2. C Library Interface...............................................................7-2
7.2.3. C Library ASCII Interface....................................................7-2
7.3. Mathematical Function Commands ....................................................7-3
7.3.1. Direct Variables (V0 through V255)....................................7-3
7.3.2. Indirect Variables (VV0 through VV255)............................7-3
7.3.3. Functions..............................................................................7-3
7.3.4. Operators and Evaluation Hierarchy ....................................7-5
7.4. System Registers.................................................................................7-6
7.4.1. Relative Position Registers...................................................7-6
7.4.2. Absolute Position Registers..................................................7-6
7.4.3. Real Time Feedback Position Registers...............................7-7
7.4.4. Real Time Commanded Position Registers..........................7-7
7.4.5. Understanding the Concept of Program Steps......................7-8
7.4.6. A/D Channel Registers.........................................................7-8
7.5. System Inputs $INP and $IN0-$INF.................................................7-10
7.6. iSBX I/O Interface (optional on U500 ISA only).............................7-11
7.7. 4EN Expansion Board I/O Interface (optional on U500 ISA
only)..................................................................................................7-14
7.8.1. ABORT..............................................................................7-22
7.8.2. ACCELERATION .............................................................7-22
7.8.3. AC PL (ACcel PLane)........................................................7-23
7.8.4. AFCO (Auto Focus)...........................................................7-23
7.8.5. AGAIN...............................................................................7-27
7.8.6. Analog Vector Tracking Mode...........................................7-28
7.8.7. AT (Autotune)....................................................................7-30
7.8.8. BOARD..............................................................................7-31
7.8.9. BRAKE..............................................................................7-32
7.8.10. CAL (Load Calibration File)..............................................7-33
7.8.11. CALLDLL..........................................................................7-34
7.8.12. CLOCKWISE and COUNTERCLOCKWISE
CIRCULAR INTERPOLATION .......................................7-37
7.8.13. CLRSCR (Clear Screen).....................................................7-42
7.8.14. CM (Contouring Mode)......................................................7-42
7.8.15. COM FREE........................................................................7-43
7.8.16. COM GET..........................................................................7-43
7.8.17. COM INIT..........................................................................7-45
7.8.18. COM RECEIVE.................................................................7-45
7.8.19. COM SEND ....................................................................... 7-46
7.8.20. COM SET _RECEIVE_.....................................................7-47
7.8.21. COM SET _STATUS_.......................................................7-48
7.8.22. COM SET _TERMINATE_...............................................7-49
7.8.23. COM SET _TIMEOUT_....................................................7-50
7.8.24. CS (Command Scope)........................................................7-51
7.8.25. Cutter Compensation Commands.......................................7-52
7.8.26. CVI (Convert to Integer)....................................................7-55
7.8.27. CYCLE...............................................................................7-56
7.8.28. DAC (D/A Output).............................................................7-57

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7.8.29. DISABLE........................................................................... 7-58
7.8.30. DS (Display Servo Loop Data) .......................................... 7-59
7.8.31. DWELL.............................................................................. 7-60
7.8.32. DY (Dynamic Gain)........................................................... 7-60
7.8.33. EC ...................................................................................... 7-61
7.8.34. ENABLE............................................................................ 7-63
7.8.35. ERROR .............................................................................. 7-64
7.8.36. EXIT .................................................................................. 7-65
7.8.37. FAULT ACKNOWLEDGE............................................... 7-66
7.8.38. FL (Filter Time Constant) .................................................. 7-66
7.8.39. FREEDLL.......................................................................... 7-67
7.8.40. FREERUN ......................................................................... 7-68
7.8.41. GAIN.................................................................................. 7-69
7.8.42. GEAR................................................................................. 7-70
7.8.43. GOTO ................................................................................ 7-71
7.8.44. HALT................................................................................. 7-73
7.8.45. HOME................................................................................ 7-74
7.8.46. IF........................................................................................ 7-75
7.8.47. IMMEDIATE..................................................................... 7-77
7.8.48. INDEX............................................................................... 7-78
7.8.49. INn (Read Inputs)............................................................... 7-79
7.8.50. INTERRUPT...................................................................... 7-80
7.8.51. IO COMMAND................................................................. 7-81
7.8.52. IOSET COMMAND.......................................................... 7-81
7.8.53. JOG .................................................................................... 7-82
7.8.54. Label Marker (:)................................................................. 7-82
7.8.55. LINEAR............................................................................. 7-83
7.8.56. LOADDLL......................................................................... 7-84
7.8.57. LOOP................................................................................. 7-85
7.8.58. LVDT................................................................................. 7-86
7.8.59. M0 (“M Zero”)................................................................... 7-87
7.8.60. MCOMM (Motor Commutation)....................................... 7-88
7.8.61. MESSAGE......................................................................... 7-89
7.8.62. MR (Memory Read)........................................................... 7-90
7.8.63. MSET (Motor Setup) ......................................................... 7-91
7.8.64. MW (Memory Write)......................................................... 7-94
7.8.65. NEXT................................................................................. 7-95
7.8.66. OEn (Extended Output)...................................................... 7-96
7.8.67. OUTPUT............................................................................ 7-97
7.8.68. PARALLEL ....................................................................... 7-98
7.8.69. PRM (PARAMETER READ)........................................... 7-99
7.8.70. PAUSE............................................................................. 7-100
7.8.71. PLANE............................................................................. 7-101
7.8.72. PLC .................................................................................. 7-102
7.8.73. POSITION COMMAND (IN POSITION) ..................... 7-105
7.8.74. PROGRAM...................................................................... 7-106
7.8.75. QUEUE............................................................................ 7-108
7.8.76. RAMP .............................................................................. 7-110
7.8.77. REFERENCE................................................................... 7-111
7.8.78. RETURN.......................................................................... 7-111
7.8.79. ROTATE (Part Rotation)................................................. 7-112
7.8.80. ROUNDING .................................................................... 7-113