ii
6250 Servo Controller User Guide
Chapter 5:
Basic 6250 Features . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4 3
Before You Proceed With This Chapter ...............................................................................................
43
6000 Series Software Reference Guide ..................................................................................
43
Compumotor Bulletin Board Service .......................................................................................
44
Basic Motion Control Concepts .............................................................................................
44
Support Software ...........................................................................................................................
44
6000 DOS Support Disk.......................................................................................................
44
Motion Architect® ..............................................................................................................
44
6250 Safety Features .....................................................................................................................
45
Scaling ........................................................................................................................................
46
Acceleration & Deceleration Scaling (SCLA/PSCLA) .................................................................
46
Velocity Scaling (SCLV/PSCLV)............................................................................................
46
Distance Scaling (SCLD) .....................................................................................................
47
End-of-Travel Limits .......................................................................................................................
48
Homing ........................................................................................................................................
48
Positioning Modes..........................................................................................................................
51
Preset Mode .....................................................................................................................
52
Continuous Mode ...............................................................................................................
53
User Interface Options....................................................................................................................
54
Programmable Inputs and Outputs ....................................................................................................
55
Output Functions ...............................................................................................................
55
Input Functions .................................................................................................................
58
Thumbwheel Interface.........................................................................................................
63
PLC Interface....................................................................................................................
65
Joystick Interface..........................................................................................................................
65
-ANI 14-Bit Analog Input Option (6250-ANI Option Only) ........................................................................
68
RP240 Front Panel Interface ............................................................................................................
68
Operator Interface Features.................................................................................................
69
Using the Default Mode .......................................................................................................
70
Host Computer Operation ................................................................................................................
72
Variables (Binary, Numeric, and String) ..............................................................................................
73
RS-232C Daisy-Chaining .................................................................................................................
76
Chapter 6:
A d v a n c e d 6 2 5 0 F e a t u r e s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7 9
S-Curve Profiling............................................................................................................................
79
X-Y Linear Interpolation...................................................................................................................
81
Chapter 7:
6 2 5 0 P r o g r a m m i n g T i p s . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8 3
Creating Programs & Subroutines......................................................................................................
83
Subroutines ......................................................................................................................
84
Stored Programs and Non-volatile Memory..............................................................................
84
Automatic Program Execution ..............................................................................................
85
Controlling Execution of Programs and the Command Buffer ...................................................................
85
Program Flow Control ......................................................................................................................
87
Unconditional Looping and Branching.....................................................................................
87
Conditional Looping and Branching ........................................................................................
89
Program Interrupts .........................................................................................................................
92
Program Debug Tools......................................................................................................................
93
Trace Mode.......................................................................................................................
93
Single-Step Mode...............................................................................................................
94
Simulating Analog Input Channel Voltages ..............................................................................
95
Simulating I/O Activation .....................................................................................................
95
Programming Error Responses .............................................................................................
97
Error Handling ...............................................................................................................................
98
Chapter 8:
Hardware Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 0 1
General Specifications....................................................................................................................
101
I/O Pin Outs & Circuit Drawings.........................................................................................................
102
Optional DIP Switch Settings............................................................................................................
105
Chapter 9:
Troubleshooting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 0 7
Troubleshooting.............................................................................................................................
107
Common Problems & Solutions .............................................................................................
108
RS-232C Troubleshooting ................................................................................................................
109
Returning the System .....................................................................................................................
110
Appendix A: Reducing Electrical Noise . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 1 1
Appendix B: Alphabetical Command List . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 1 3
Appendix C: I n d e x . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 1 7
