2
6250 Servo Controller User Guide
System Hardware Block Diagram
Joystick Interface
Motor #1
Drive #1
Up to 2 Axes of control
RS-232C
Interface
6250
Computer
or
Dumb Terminal
Operating System
------------
Microprocessor
68000 - 12MHz
Battery-backed
RAM
for
user programs
- CW & CCW End-of-travel
- Home
Limits
Motion
Chip
Axis #1
Motion
Chip
Axis #2
Front Panel
Interface
Limit
Connections
-
±
10V Analog Output
- Shutdown Output
- Drive Fault Input
- Enable Input
- 2 Positon Latch Inputs
- 24 Prog. Inputs
- 24 Prog. Outputs
- 2 Auxiliary Prog. Outputs
Drive Interface
I/O
RP240
Front Panel
Motor #2
Drive #2
Encoder
#1
Encoder
#2
I/O
Connections
Joystick
- Inc. Encoder Interface
- Position Latch
- Output on Position
Dual Port RAM
DSP
6250-ANI
Option
Optional
±
10V,
14-bit Analog Input
6250 Features
❏
1 to 2 axes of optically isolated —10V analog interface servo control
❏
Servo feedback from incremental encoders. Analog feedback available with the
6250-ANI option.
❏
Controls servo drives in the velocity or torque mode
❏
Fast digital signal processor (DSP) for sophisticated servo control (digital
Proportional, Integral, and Velocity feedback, plus acceleration and velocity
Feedforward—PIV&F)
❏
S-curve motion profiling
❏
Motion Architect
®
is standard
❏
Teach Mode
❏
Windows™-based visual data gathering and tuning aide available when using
the Motion Architect® Servo Tuner option
❏
DOS Support Disk provided
❏
40,000 bytes of non-volatile memory for storing programs & paths
❏
Capability to interrupt program execution on error conditions
❏
2-axis linear interpolation standard
❏
Variable storage, conditional branching, and math capability
❏
Program debug tools — single-step and trace modes, breakpoints, and
simulation of I/O
❏
Internal power supply
❏
Direct interface to RP240 Front Panel
❏
Operates stand-alone or interfaces to PCs & PLCs
❏
3-wire, RS-232C interface to PC or dumb terminal
❏
1.2 MHz pre-quadrature encoder feedback pulse frequency
❏
I/O capabilities (all I/O are isolated):
•
±
10V analog control output (both axes )
• Shutdown output (both axes)
• Drive Fault input (both axes)
• Incremental encoder input (both axes)
• CW & CCW end-of-travel limit inputs (both axes)
• Home limit input (both axes)
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1
DRIVE 2
ENCODER 2
+5V
A+
A-
B+
B-
Z+
Z-
GND
SHLD
AUX
ENCODER 1
+5V
A+
A-
B+
B-
Z+
Z-
GND
SHLD
2-AXIS SERVO
CONTROLLER
STATUS
Compumotor
Rx
Tx
GND
SHLD
+5V
OUT-P
IN-P
RP240
POWER
6250
P
R
O
G
R
A
M
M
A
B
L
E
I
N
P
U
T
S
P
R
O
G
R
A
M
M
A
B
L
E
O
U
T
P
U
T
S
J
O
Y
S
T
I
C
K
+5V
GND
Rx
Tx
SHLD
EARTH
N/A
NEUT LINE
GRN
RED
: READY
: RESET
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
LIM 1/2
DRIVE1 OFF
DRIVE2 OFF
TRG-A
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
6250 Front Panel
• 3 8-bit analog inputs for joystick control and variable input
• 2 (trigger) inputs — use for hardware position latch (
±
1 count accuracy)
• 24 programmable inputs (Opto-22™ compatible)
• 24 programmable outputs (Opto-22™ compatible)
• 2 auxiliary programmable outputs that can be configured for accurate output on position within
±
1 count
❏
6250-ANI Option offers two
±
10V, 14-bit analog inputs (one per axis) with anti-aliasing filter.
