118
6250 Servo Controller User Guide
F
factory defaults
connections 3
DIP switches 105
fault output 57
feedback data 21
full duplex 4
G
gains (see also
tuning)
definition 21
general specifications 101
gosub 87, 88
goto 87, 88
GRA (goods returned authorization) 110
grounding 7, 111, 112
H
hard limits (see
limit inputs)
heat & humidity 7
homing 48
home limit input 11, 104
home reference position 11
zeroing the absolute position 49
host computer (PC) interface 54, 72
I
I/O activation (simulation) 95
I/O cabling 17
IF 87, 92
immediate commands 53, 83
immediate data read from RP240 91
IN-P (input pull-up) 12, 104
incremental encoders (see
encoder)
incremental positioning mode (MAØ) 51, 52
initiate linear interpolated motion (GOL) 81
initiate motion (GO) 81
input operand 89
inputs
analog 15, 65, 104
option 16, 54, 68
overriding 67
overriding (ANVO) 95
configuration 58
drive 102
drive fault 45
enable (ENBL) 45
encoder 17, 103
capture (position latch) 61
end-of-travel limits 11, 45, 104
home limit 11, 48, 104
programmable 13, 55, 95, 96, 103
change from sourcing to sinking 13, 65
debounce time 58
function assignments 58
jogging 62
joystick 15, 65, 104
kill 53, 60
no function 59
one-to-one program select 62
pause/continue 61, 86
program select 60
stop 53, 60, 87
user fault 45, 61
problems 109
pull-up 3, 12, 104
simulating activation 95
status 58
thumbwheel 63
triggers 14, 104
debounce time 58, 61
instability 23
installation
drive connections 9
enable input 3
encoder connections 12
joystick connections 15
limit connections 11
mounting 8
PLC connections 65
precautions 7
procedure iv, 8
programmable I/O connections 13
RP240 connections 15
test/verification 17
thumbwheels 63
trigger connections 14
integral feedback control (SGI) 27
Integral Windup 27
Interpolation
linear (X-Y) 81
J
jogging 62
jogging input 62
speed select high/low (INFNCi-aL) 62
velocity high (JOGVH) 62
velocity low (JOGVL) 62
joystick
application example 54
center deadband 66
center voltage 66
inputs 15, 65-66, 104
test 18
velocity resolution 66
jump (unconditional branch) 88
K
kill
assigned input function 53, 60
effect on drive 20, 60
L
LEDs 5
limits 86
connections 11, 104
end-of-travel 11, 45, 48
home 11, 48, 104
test 18
used as basis to activate output 56
linear interpolation 81
acceleration scaling (PSCLA) 46
end point 81
initiate motion (GOL) 81
velocity scaling (PSCLV) 46
logical operators 89
looping 87
M
master/slave daisy chain 76, 78
mathematical operations 73
maximum position error exceeded 57
mechanical factors 44
memory allocation 84
per command 85
microelectronic components 112
motion
control concepts iii, 44
parameters 90
profiles 44
test 18
trajectory update 34
Motion Architect® 20, 38, 44
servo tuner option 20
motor position 90
mounting 8
panel layout 8
move completion criteria 40
moving/not moving 56
N
national electric code handbook iv
NIF 92
no function input 59
noise (electrical) 7, 17, 30, 108
reducing 111
suppression
limits & triggers 17
on analog inputs 15
non-volatile memory (battery-backed RAM) 84
normal (preset) mode 52
numeric variables (VAR) 73, 89
NWHILE 92
O
On conditions 92
on-the-fly changes 53
one-to-one program select input 62
open-loop operation 22, 29
operating system 43
operator interface 69
options
analog input 16, 68
oscillation 27
oscillatory servo response 24
output (analog) to drive 102
saturation 22
output operand (OUT) 89
outputs
programmable 13, 55, 65, 95, 103
auxiliary (OUT-A and OUT-B 57
function assignments 55
activate on position 55, 57
fault output 57
limit encountered 56
max. position error exceeded 57
moving/not moving 56
program in progress 56
problems 109
pull up (OUT-P) 3, 12, 65, 104
simulating activation 95
shutdown 45
Status 56
over-damped servo response 24
overshoot 24, 27
P
parity 4
partitioning memory 85
pause and continue 61, 86
PC-Talk™ 4
peripheral system components iv
pin outs 102
auxiliary connector 104
drive connector 9, 102
encoder connetor 12, 103
joystick connector 15, 104
limits connector 104
programmable I/O 13, 103
RP240 105
triggers connector 104
PIV&F 26
PLC interface 13, 14, 54, 65
point-to-point move 52
polarity
home input 11
programmable inputs and outputs 55
trigger inputs 14
position
absolute 52
actual (based on encoder) 23
after ENBL stop 13
commanded 22
encoder 90
capture 61
error 23
max. allowable 45
following error 23
home 11
incremental 52
latch 13, 61, 95
motor 90
overshoot 27
response 23, 24
setpoint 22
tracking error 23
used to activate output 57
zeroed after homing 49
positioning modes 51
potentiometer 15
joystick 66
power line noise 111
power-up user program (STARTP) 5, 70, 85
problems 108
