Parker Compumotor 6000 Series, Руководство по установке

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Chapter 1. Installation 2 3
Analog Output
Signal 1. If the servo drives are connected to the AT6n50Õs DRIVE connectors, disconnect them
now.
2. Set all gains on all axes to zero by entering these commands:
@SGP¯ <cr>
,
@SGI¯ <cr>
,
@SGV¯ <cr>
,
@SGAF¯ <cr>
, and
@SGVF¯ <cr>
.
3. Enter the
@DRIVE1
command to enable the AT6n50 to send out the analog command.
4. Set the DAC output limit (all axes) to 10 volts by entering the
@DACLIM1¯
command.
5. Drive the analog output to the maximum positive range by entering the
@SOFFS1¯
command.
6. Enter the
TDAC
command to check the analog output value. The response should be
*TDAC+1¯,+1¯,+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 on each axis.
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
systemÕs grounding connection or the AT6n50Õs DAC is not functioning properly.
8. Repeat steps 5 through 7, using these servo output offset values for step 5:
@SOFFS-1¯
@SOFFS¯
@SOFFS5
@SOFFS-5
TDAC
response
(output voltage )
:
±
axis 1,
±
axis 2,
±
axis 3,
±
axis 4
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) command to stop the continuous report-back.
TPE
response
(encoder counts)
:
±
encoder1,
±
enc1,
±
enc3,
±
enc4
Direction of rotation:
Counter-clockwise
(negative counts)
Clockwise
(positive counts)
ANI Analog
Input Feedback
(ANI option
card 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 from the connector on the ANI
option 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) command to stop the continuous report-back.
TANI
response
(volts)
:
±
ANI input #1,
±
ANI input #2,
±
ANI input #3,
±
ANI input #4
NOTE
ANI feedback is measured in
volts
Programmable
Inputs
(incl. triggers
TRG-A through
TRG-D) 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_1111_1111_1111
.
TIN
response:
bits 1-24 = prog. inputs 1-24
bits 25-28 = TRG-A, TRG-B,
TRG-C and TRG-D
AT6250:
TRG-D is not available.
Programmable
Outputs
(incl. outputs
OUT-A through
OUT-D) 1. Enter the
OUTALL1,28,1
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_1111_1111_1111_1111_1111
.
3. Enter the
OUTALL1,28,¯
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 1-24 = prog. outputs 1-24
bits 25-28 = OUT-A, OUT-B,
OUT-C, and OUT-D
AT6250:
OUT-C is used as a general-
purpose output only, not for the
Output On Position feature.
OUT-D is not available.
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
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