Chapter 1. Installation
2 3
Connections
Test Procedure
Response Format
(left to right)
Analog Output
Signal
1. If the servo drives are connected to the OEM6250’s DRIVE connectors, disconnect them.
2. Set all the gains to zero by entering these commands:
SGP¯,¯
<cr>
,
SGI¯,¯
<cr>
,
SGV¯,¯
<cr>
,
SGAF¯,¯
<cr>
, and
SGVF¯,¯
<cr>
.
3. Enter the
DRIVE11
command to enable the OEM6250 to send out the analog command.
4. Set the DAC output limit to 10 volts by entering the
DACLIM1¯,1¯
command.
5. Drive the analog output to the maximum positive range by entering the
SOFFS1¯,1¯
command.
6. Enter the
TDAC
command to check the analog output value. The response should be
*TDAC+1¯,+1¯
.
7. Using a Digital Volt Meter (DVM), measure the actual analog output voltage between the
CMD+ (analog command) and CMD- (analog command return) terminals. Compare the
DVM reading to the entry for the
SOFFS
command (see step 5). If the reading deviates
more than 0.1V from +10V, then there is either a problem with the system’s grounding
connection or the OEM6250’s DAC is not functioning properly.
8. Repeat steps 5 through 7, using these servo output offset values for step 5:
SOFFS-1¯,-1¯
SOFFS¯,¯
SOFFS5,5
SOFFS-5,-5
TDAC
response
(output voltage )
:
±
axis 1,
±
axis 2
Encoder
1. Enter these commands:
L
<cr>
,
TPE
<cr>
,
T.3
<cr>
, and then
LN
<cr>
. This will begin a
continuous display of the encoders position. Press the
<return>
key to move the display to
the next line and save the current value.
2. Manually rotate the encoder shaft and verify that the position changes as you rotate the
encoder shaft. If you connected the encoder as instructed earlier in this chapter, moving
the shaft clockwise should increase the position reading. If the reading does not change,
or if the direction is reversed, check the connections. If the direction is reversed, swap the
A+ and A- connections.
3. When finished, enter the
^K
(ctrl-K) or
!K
command to stop the continuous report-back.
TPE
response
(encoder counts)
:
±
encoder1,
±
encoder1
Direction of rotation:
Counter-clockwise
(negative counts)
Clockwise
(positive counts)
ANI Analog
Input Feedback
(OEM6250-ANI
only)
1. Enter these commands:
L
<cr>
,
TANI
<cr>
,
T.3
<cr>
, and then
LN
<cr>
. This will begin a
continuous display of the voltage level at the ANI inputs on the optional ANI input card.
Press the
<return>
key to move the display to the next line and save the current value.
2. Change the voltage output from your voltage source and verify that the
TANI
report
changes accordingly. If the reading does not change, check the connections.
3. When finished, enter the
^K
(ctrl-K) or
!K
command to stop the continuous report-back.
TANI
response
(volts)
:
±
ANI input #1,
±
ANI input #2
NOTE
ANI feedback is measured in
volts
Programmable
Inputs
(incl. triggers)
1. Open the input switches or turn off the device driving the inputs.
2. Enter the
TIN
command.
The response should be
*TIN¯¯¯¯_¯¯¯¯_¯¯¯¯_¯¯¯¯_¯¯
.
3. Close the input switches or turn on the device driving the inputs.
4. Enter the
TIN
command.
The response should be
*TIN1111_1111_1111_1111_11
.
TIN
response:
bits 1-16 = prog. inputs 1-16
bits 17-18 = TRG-A and TRG-B
Programmable
Outputs
(incl. OUT-A
and OUT-B)
1. Enter the
OUTALL1,1¯,1
command to turn on (sink current on) all programmable
outputs. Verify that the device(s) connected to the outputs activated properly.
2. Enter the
TOUT
command.
The response should be
*TOUT1111_1111_11
.
3. Enter the
OUTALL1,1¯,¯
command to turn off all programmable outputs. Verify that the
device(s) connected to the outputs de-activated properly.
4. Enter the
TOUT
command.
The response should be
*TOUT¯¯¯¯_¯¯¯¯_¯¯
.
TOUT
response:
bits 1-8 = prog. outputs 1-8
bits 9-10 = OUT-A and OUT-B
RP240
1. Cycle power to the OEM6250.
2. If the RP240 is connected properly, the RP240’s status LED should be green and one of the
lines on the computer or terminal display should read
*RP24¯ CONNECTED
.
If the RP240’s status LED is off, check to make sure the +5V connection is secure.
If the RP240’s status LED is green, but the message on the terminal reads
*NO REMOTE
PANEL
, the RP240 Rx and Tx lines are probably switched. Remove power and correct.
3. Assuming you have not written a program to manipulate the RP240 display, the RP240
screen should display the following:
COMPUMOTOR 6250 SERVO CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC
Enable and
Joystick Inputs
1. Open the enable input (ENBL) switch, and open the joystick input switches or turn off the
device driving the joystick inputs.
2. Enter the
TINO
command.
The response should be
*TINO¯¯¯¯_¯¯¯¯
.
3. Close the ENBL switch, and close the joystick switches or turn on the device.
4. Enter the
TINO
command.
The response should be
*TINO1111_11¯¯
.
TINO
response:
bit 1 = joystick auxiliary
bit 2 = joystick trigger
bit 3 = joystick axes select
bit 4 = joystick velocity select
bit 5 = joystick release
bit 6 = Enable (ENBL) input
bits 7 & 8 are not used
