6250 Servo Controller User Guide Compumotor Division Parker Hannifin Corporation p/n 88-013413-01B October 18, 1993
Important User Information To ensure that the equipment described in this user guide, as well as all the equipment connected to and used with it, operates satisfactorily and safely, all applicable local and national codes that apply to installing and operating the equipment must be followed. Since codes can vary geographically and can change with time, it is the user's responsibility to identify and comply with the applicable standards and codes.
6250 Servo Controller User Guide Revision B Change Summary The following is a summary of the primary technical changes to this user guide since the last version was released. This user guide, p/n 88-013413-01B (released on October 18, 1993), supersedes 88-013413-01A. Topic De s c ript ion S e e Als o 6250-ANI Analog Input Option is Released New Option/Feature: The 6250-ANI option was released at the same time this user guide revision B was released.
6250 User Guide Change Summary (continued) Programming: Troubleshooting problems RMAs RP240 Software Revision 1.1 Released Variable Type Conversion Clarification: In Chapter 7, three resolutions were added to resolve the following problem situations: • Start-up program (STARTP) will not run on power up • Program execution stops at the INFEN1 command • First time a program is run, the move distances are incorrect, but after downloading the program a second time the move distances are correct.
T A B L E O F C O N T E N T S O v e r v i e w . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . iii Assumptions................................................................................................................................. iii Contents of This 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 ..............................
O V E R V I E W This user guide is designed to help you install, develop, and maintain your system. This section is intended to help you find and use the information in this user guide. Assumptions To effectively use this user guide to install, develop, and maintain your system, you should have a fundamental understanding of the following: ❏ ❏ ❏ Basic electronics concepts (voltage, switches, current, etc.) Basic motion control concepts (torque, velocity, distance, force, etc.
Installation Process Overview ➀ ➁ ➂ ➃ ➄ ➅ ➆ Review this entire user guide. Become familiar with the user guide's contents so that you can quickly find the information you need. At times you may want to refer to the 6000 Series Software Reference Guide for detailed descriptions of the 6000 Series commands used in this user guide.
C H A P T E R ➀ Introduction This chapter describes the 6250's basic functions & features. 6250 Description The Compumotor 6250 is a stand-alone, two-axis servo controller. The 6250 provides sophisticated two-axis control of any standard ±10V analog input servo drive system. The 6250 implements a dual processor approach, comprising a microprocessor for executing high-level motion programs and a digital signal processor (DSP) for high-speed, sophisticated servo control.
System Hardware Block Diagram Computer or Dumb Terminal 6250 Up to 2 Axes of control Battery-backed RAM for user programs RS-232C Interface Front Panel Interface Optional ±10V, 14-bit Analog Input Drive #1 Motor #1 Drive #2 Motion Chip Axis #1 RP240 Front Panel Drive Interface - ±10V Analog Output - Shutdown Output - Drive Fault Input Motion Chip Axis #2 Operating System -----------Microprocessor 68000 - 12MHz Dual Port RAM 6250-ANI Option DSP - Inc.
C H A P T E R ➁ Getting Started The information in this chapter will enable you to: ❏ Verify that each component of your 6250 system has been delivered safely and configured properly ❏ Bench test the 6250's power and RS-232C interface to the host computer/terminal Inspect The Shipment If you need to return any or all of the 6250 system components, use the return procedures in Chapter 9, Troubleshooting.
Bench Test This section leads you through step-by-step instructions to bench test your 6250 system. This is a temporary (bench top) configuration; the permanent installation will be performed in Chapter 3, Installation. In this section, you will complete the following tasks: ➀ ➁ ➂ RS-232C Communications Connect Power Cable Test Procedure ➀ RS-232C Communications To communicate with the 6250, your computer or terminal must have an RS-232C serial port.
➁ Connect Power Cable The 6250 is shipped with an 8-foot power cable that is prewired and keyed. Attach the power cable to the 6250's POWER connector as illustrated below. WARNING 2-AXIS SERVO CONTROLLER DO NOT APPLY POWER TO THE 6250 UNTIL INSTRUCTED TO DO SO IN THE FOLLOWING TEST PROCEDURE. 85 - 240VAC If you have a power source other than 85-240VAC, refer to Chapter 8 for specifications on alternative input power.
C H A P T E ➂ R Installation The information in this chapter will enable you to: ❏ ❏ ❏ Mount all system components properly Connect all inputs and outputs properly Verify that the complete system is installed properly To ensure proper installation, you should perform all the bench test procedures in Chapter 2, Getting Started, before proceeding with the permanent installation process in this chapter.
Airborne Contaminants Contaminants that may come in contact with the 6250 should be carefully controlled. Particulate contaminants, especially electrically conductive material such as metal shavings, can damage the 6250. Follow Installation Procedure To ensure proper installation of the 6250 system, this chapter is organized in logical, linear steps. Deviating from this prescribed format may result in system problems.
This section describes procedures for the following 6250 system connections: ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ Motor Drivers End-of-travel and home limits Encoders Auxiliary +5VDC output Output pull-up (OUT-P) Programmable inputs and outputs (including auxiliary outputs OUT-A and OUT-B) Trigger inputs (TRG-A and TRG-B) RP240 Front Panel Joystick and analog inputs ANI analog inputs (6250-ANI option only) Extending cables Refer to the bench test procedures in Chapter 2 for the following connections: ❏ ❏ Power RS-232C
<> SAFETY FIRST <> If your drive does not have a shutdown input, install a manual emergency-stop switch for the drive's power supply.
6250 Dynaserv Drive DN1 (50-pin Honda Connector) Dynaserv Drive 6250 1 DRIVE 1 33 SHLD COM SHTNC SHTNO DFT AGND ANI CMDCMD+ 19 A+ A– SRVON Voc B+ B– Z+ Z– VIN AGND (pin 13) (pin 14) (pin 23) (pin 24) (pin 29) (pin 30) (pin 43) (pin 44) (pin 49) (pin 50) ↔ ↔ ↔ ↔ ↔ ↔ ↔ ↔ ↔ ↔ ENCODER 1 A– A+ SHTNO +5V B+ B– Z+ Z– CMD+ CMD– 18 +5V A+ AB+ BZ+ ZGND SHLD 50 NOTE: Dynaserv A+ connected to 6250’s A– Dynaserv A– connected to 6250’s A+ 6250 OEM670 Drive 1 OEM670 Drive CMD+ (pin 1) CMD– (pin 2) FAULT
UD12 Drive 6250 (UR4 Rack) UD12 Drive +15V, LSW & LSW2 VEL2 VEL1 0V FAULT EXT.DIS 6250 ↔ ↔ ↔ ↔ ↔ ↔ 1 SHTNO CMD– CMD+ AGND DFT SHLD NOTE: These connections will work only if UD12 jumper LK3 is set to position A (not the factory default position). 1 18V AC 0V 18V AC +15V 0V –15V 0V RESET READY PSU FAULT DRIVE 1 G1 G2 VEL2 VEL1 SCREEN 0V FAULT EXT.
End-of-Travel Limit Connections The 6250 provides CCW and CW end-of-travel limit inputs for both axes via the LIM 1/2 connector. End-of-travel inputs serve as safety stops that prevent the load from crashing into mechanical stops and damaging equipment or injuring personnel. The drawing below illustrates typical end-of-travel limit switch connections.
Encoder Connections The 6250 supports up to two incremental encoders. If you use encoders other than those supplied by Compumotor, pay special attention to the following requirements: ❏ ❏ Use incremental encoders with two-phase quadrature output. An index or Z channel output is optional. Differential outputs are recommended. It must be a 5V encoder to use the 6250's +5V output. Otherwise, it must be separately powered, with TTL-compatible or open-collector outputs.
Enable Input Connection The ENBL (enable) input is located on the AUX connector. The 6250 is shipped with ENBL wired to GND (see drawing) to allow motor motion. See the illustration above for an example connection using a normally-closed switch. Opening the switch sets the ±10V analog command output to zero volts and activates the shutdown outputs; this is done independent of microprocessor and DSP control. The encoder's position is retained when the ENBL input is activated.
27 25 Input #11 Input #12 01 Input #24 (MSB) 27 25 Output #11 Output #12 01 Output #24 (MSB) NOTE: All even-numbered pins are connected to logic ground (DC ground). Optional VM50 Adaptor If you wish to use screw terminal connections for the 24 programmable I/O, Compumotor offers the VM50 adaptor (p/n VM50). If you wish to use screw terminal connections for both the 24 inputs and the 24 outputs, you will need two VM50 adaptors.
RP240 Front Panel Connections (RP240 is optional) Using a four-wire shielded cable, connect the RP240 to the 6250's RP240 connector (see below). For cable lengths up to 50 feet, use 20 AWG wire (cable lengths longer than 50 feet are not recommended). Refer to the RP240 User Guide for mounting instructions. NOTE For the 6250 to recognize the RP240, the RP240 connection must be made prior to powering up (or resetting) the 6250.
Analog Inputs You can use the analog inputs for joystick control of the axes. An analog input can command an axis velocity from full CW to full CCW. The following drawing illustrates a typical joystick connection example. Joystick potentiometers are 5KΩ with 60° of usable travel adjusted to span 0Ω to 1KΩ. * 1KΩ Resistors * The 1KΩ resistors for velocity select, axes select, joystick trigger, & joystick auxiliary are for noise suppression only.
Extending 6250 System Cables This section describes options for extending 6250 system drive, encoder, and I/O cables. If you wish to order longer cables, contact Compumotor's Customer Service Department at (800) 722-2282 or contact your local Compumotor Distributor or ATC. 6250-to-Encoder Cables Compumotor E Series encoders are supplied with a permanently attached 10-foot cable. The maximum cable length between Compumotor encoders and the 6250 is 100 feet.
NOTE The following table is based on the assumption that you have not changed the active levels of the 6250's inputs and outputs. Verify these settings with the following status commands: Command Entered INLVL HOMLVL LHLVL OUTLVL Connections End-of-travel and Home limits Analog Output Signal Test Procedure NOTE: If you are not using end-of-travel limits, issue the Disable Limits (LHØ,Ø) command and ignore the first two bits in each response field.
I ns t a lla t ion V e rif ic a t ion ( c ont . ) ➀ Cycle power to the 6250. ➁ If the RP240 is connected properly, the RP240's status LED should be green and one of the RP240 messages on the computer or terminal display should read *RP24Ø 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.
If the encoder is mounted directly to the motor, then to ensure that the motor will move according to the programmed distance and velocity, the 6250's resolution must match the encoder's resolution. Use the ERES command to set the 6250's resolution (default setting is 4,000 counts/rev, selectable range is 200 to 1,024,000). NOTE The programming examples throughout this user guide assume an encoder resolution of 4,000 counts post-quadrature (ERES4ØØØ,4ØØØ).
C H A P T E R ➃ Servo Tuning In a Hurry? We strongly recommend tuning the 6250 before attempting to execute any motion functions. If you must execute motion quickly (e.g., for testing purposes), you should at least complete the Tuning Setup Procedure and Drive and Controller Tuning Procedures (see pages 29 - 38) until you have found a proportional feedback gain that can give a stable response for your system. Then you can proceed to execute your motion functions.
When all gains are set to zero, the digital control algorithm is essentially disabled and the system becomes an open loop system (see diagram below). During system setup or troubleshooting, it is desirable to run the system in open loop so that you can independently test the drive and motor operation (refer to the Tuning Setup Procedure section of this chapter for instructions to run the 6250 in open loop).
Position Setpoint Profile Complete Commanded Position Distance (D) Acceleration Constant Velocity Deceleration Time Actual Position The other type of time-varying position information is the actual position; that is, the actual position of the motor/load measured with the encoder.
The following table lists, describes, and illustrates the six basic types of position responses. Position Response Types The primary difference among these responses is due to damping, which is the suppression (or cancellation) of oscillation. Description Instability causes the position to oscillate in a exponentially diverging fashion. Profile (position/time) Position Response Unstable A highly damped, or over-damped, system gives a smooth but slower response.
6000 Series Servo Commands NOTE The following list contains a brief description of each servo-related 6000 Series command. More detailed information can be found in the rest of this chapter and within each command's description in the 6000 Series Software Reference Guide. Command Title Brief Description (detailed descriptions in 6000 Series Software Reference Guide) SGAF Acceleration Feedforward Gain Sets the acceleration feedforward gain in the PIV&Fa servo algorithm.
Servo Control Techniques To ensure that you are tuning your servo system properly, you should understand the tuning techniques described in this section. The 6250 employs a PIV&F servo control algorithm. The control techniques available in this system are as follows: P .......... Proportional Feedback (controlled with the SGP command) I .......... Integral Feedback (controlled with the SGI command) V ......... Velocity Feedback (controlled with the SGV command) F ..........
Integral Feedback Control (SGI) Using integral feedback control, the value of the control signal is integrated at a rate proportional to the encoder position error. The rate of integration is set by the Servo Gain Integral (SGI) command. The primary function of the integral control is to overcome friction and/or gravity and to reject disturbances so that steady state position error can be minimized or eliminated. This control action is important for achieving high system accuracy.
When velocity feedback control is used, the control signal is proportional to the encoder's velocity (rate of change of the actual position). The Servo Gain Velocity (SGV) command sets the gain, which is in turn multiplied by the encoder's velocity to produce the control signal. Since the velocity feedback acts upon the encoder's velocity, its control action essentially anticipates the position error and corrects it before it becomes too large.
Same as velocity feedforward control, this control action can improve the performance of linear interpolation applications. In addition, it also reduces the time required to reach the commanded velocity. However, if your application only requires short, point-to-point moves, acceleration feedforward control is not necessary. Acceleration feedforward control does not affect the servo system's stability, nor does it have any effect at constant velocity or at steady state.
St ep 6 Observe the 6250's analog output noise level on the oscilloscope. The ideal noise level should be below 3.0mV (1/2-bit resolution of the 6250's digital-to-analog converter), but anything up to 10mV is acceptable in most cases. If the noise level is acceptable, proceed to Step 7. If the noise level is too high: a. Turn all the power off and tie the grounds of all the electrical components of your system to a single point, and connect this point to the ground of one of the drives. b.
Drive Tuning Procedure (Velocity Drives Only) The Drive Tuning Procedure leads you through the following steps: ➀ Launch and set up Motion Architect's Drive Tuner module. ➁ Tune the drive to output the desired velocity at a given voltage from the 6250. ➂ Tune the drive (iteratively) to achieve the desired response. NOTE Be sure to complete the Tuning Setup Procedure before proceeding with the following drive tuning procedure. Unlike the Tuning Setup Procedure, you must tune one axis at a time.
St ep 3 Tune the drive (iteratively) to achieve the desired response: a. In the Data Acquisition display, select the Start button to trigger the short move and the data collection function.
Before you tune the 6250: Be sure to complete the Tuning Setup Procedure (and the Drive Tuning Procedure, if you are using a velocity drive) before proceeding with the following tuning procedure. Unlike the Tuning Setup Procedure, you must tune one axis at a time; therefore, you will have to repeat Steps 3 through 7 below for the other axis.
# of Axes Active (INDAX) 1 1 1 1 2 2 Default → 2 2 SSFR Command Setting SSFR1 SSFR2 SSFR4 SSFR8 SSFR1 SSFR2 SSFR4 SSFR8 Servo Sampling Frequency Period (samples/sec.) (µsec) 5555 180 6667 150 8000 125 10000 100 2667 375 3125 320 3636 275 4444 225 Motion Trajectory Update Frequency Period (samples/sec.
St ep 4 Optimize the Proportional (SGP) and Velocity (SGV) gains (see illustration for tuning process): If you are not using Motion Architect: ➀ Enter the following commands to create a step input profile (use a comma in the first data field when tuning axis 2—e.g., D,5Ø): Co mma n d De s c r i p t i o n > A999 Set acceleration to 999 revs/sec2 > AD999 Set deceleration to 999 revs/sec2 > V3Ø Set velocity to 30 revs/sec > D1ØØ Set distance to 100 steps ➁ Enter the SGPØ.
START Increase SGP UNTIL OR OR Decrease SGV UNTIL Increase SGV UNTIL OR Decrease SGV UNTIL OR STOP Decrease SGP UNTIL OR Increase SGV UNTIL OR Decrease SGV UNTIL 36 6250 Servo Controller User Guide
St ep 5 ☞ Use the Integral Feedback Gain (SGI) to reduce steady state error: a. Steady state position error is described earlier in the Performance Measurements section. Determine the steady state position error (the difference between the commanded position and the actual encoder position). You can determine this error value by using Motion Architect's Graph feature, or by issuing the TPER command when the motor is not moving, or by viewing the Motion Display (selected from the View pull-down menu).
d. e. St ep 7 In the Data Acquisition display, select the Start button to trigger the move and gather data. Note the plot in the Graph Display; the actual position (or velocity) probably lags the commanded position (or velocity). The objective is to increase SGVF until the lag is reduced to a level suitable for your application.
St ep 2 With SGP equal to 15, the response became slightly underdamped (see plot). Therefore, we should introduce the velocity feedback gain (SGV) to damp out the oscillation. SGP = 15 St ep 3 St ep 4 St ep 5 St ep 6 With SGV equal to 2, the response turn out fairly well damped (see plot). At this point, the SGP should be raised again until oscillation or excessive overshoot appears. As we iteratively increased SGP to 105, overshoot and chattering became significant (see plot).
St ep 8 St ep 9 After raising the SGV gain to 2.4, overshoot reduced a little, but chattering reappeared. This meant the gains were still too high. Next, we should lower the SGV gain until chattering stops. SGP = 85 SGV = 2.4 After lowering the SGV gain to 2.2 (even less than in Step 7—2.3), chattering stopped. Next we should lower the SGP gain. SGP = 85 SGV = 2.2 St ep 10 St ep 11 Overshoot was reduced very little after lowering the SGP gain to 70.
Target Zone Mode To prevent premature command execution before the actual position settles into the commanded position, use the Target Zone Mode. In this mode, enabled with the STRGTE command, the move cannot be considered complete until the motor's actual position and actual velocity are within the target zone (that is, within the distance zone defined by STRGTD and less than or equal to the velocity defined by STRGTV).
C H A P T E R ➄ Basic 6250 Features The information in this chapter will enable you to understand and implement the 6250's basic features into your application: ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ Support Software: • Motion Architect • 6000 DOS Support Disk Safety Features Scaling End-of-Travel Limits Homing Positioning Modes User Interface Options: • Programmable I/O • Thumbwheel Interface • PLC Interface • Joystick Interface • 14-Bit Analog Input Interface (6250-ANI Option only) • RP240 Front Panel Interface • H
Compumotor Bulletin Board Service Compumotor offers an electronic bulletin board service (BBS)—free of charge. The BBS allows you to send or receive messages and download the latest revisions of Compumotor software (such as support software, sample programs, and programming tools). To dial in, you must have at least a 2400 baud modem with your computer.
6250 Safety Features To help ensure a safe operating environment, you should take advantage of the 6250's safety features (see table). See Also refers you to the section in this user guide where you can find more in-depth information about the feature (system connections and/or programming instructions). Feature Description See Also Enable Input The enable input (ENBL), found on pin #14 on the AUX connector, is provided as an emergency stop input to the 6250.
Scaling The scaling commands allow you to scale acceleration, deceleration, velocity, and position to values that are appropriate for the application. The SCALE, SCLA, SCLV, SCLD, PSCLA, and PSCLV commands are used to implement the scaling features. Note that scaling only applies to encoder values. If using ANI feedback (6250-ANI only), scaling does not apply. NOTE To maximize the efficiency of the 6250's microprocessor, the scaling multiplications are performed when the program is defined or downloaded.
As the velocity scaling factor (SCLV/PSCLV) changes, the velocity command's range and its decimal places also change (see table below). A velocity value with greater resolution than allowed will be truncated. For example, if scaling is set to SCLV1Ø, the V9.9999 command would be truncated to V9.9. SCLV/PSCLV Value (steps/unit) Velocity Resolution (units/sec) Decimal Places 1-9 10 - 99 100 - 999 1000 - 9999 10000 - 99999 100000 - 999999 1 0.1 0.01 0.001 0.0001 0.00001 0 1 2 3 4 5 Max.
End-of-Travel Limits The 6250 can respond to both hardware and software end-of-travel limits. The 6250 is shipped from the factory with the hardware limits enabled. If you are not using end-of-travel limits in your application, you must disable these limits either through software or hardware before motion will occur. Refer to Chapter 3, Installation, for instructions to wire hardware end-oftravel limit switches. End-of-travel limits prevent the motor's load from traveling past defined limits.
Enabling backup to home (HOMBAC) allows you to use two other homing features, HOMEDG and HOMDF. The HOMEDG command allows you to specify the side of the home switch on which to stop. The HOMDF command allows you to specify the final approach direction. If HOMBAC is not enabled, HOMEDG and HOMDF will have no effect on the homing algorithm (see Figures A and B). Figures A and B show the homing operation when HOMBAC is not enabled.
Figures D through F show the homing operation for different values of HOMDF and HOMEDG, when HOMBAC is enabled. Velocity Home Active Region Velocity Home Active Region Position Initial Position CCW Edge of Home CCW Limit Position Initial Position CW Edge of Home CW Limit CCW Edge of Home CW Edge of Home CCW Limit Figure D. Homing in a CW Direction (HOMØ) with HOMBAC1, HOMEDG1, HOMDFØ CW Limit Figure E.
Home Active Region Home Active Region Velocity Z Channel Active Region Velocity Z Channel Active Region CCW Edge of Home Initial Position CW Edge of Home CCW Limit Position CCW Edge of Home CW Limit CCW Limit Figure K. Homing in a CCW Direction (HOM1) with HOMBAC1, HOMEDG1, HOMDF1 Position CW Limit Figure L.
Incremental Mode Moves Example Absolute Preset Mode Moves The incremental mode is the 6250's default power-up mode. When using the incremental mode (MAØ), a preset move moves the shaft of the motor the specified distance from its starting position. For example, to move the motor shaft 1.5 revolutions, a preset move with a distance of +6,000 steps (1.5 revs @ 4,000 steps/rev) would be specified. Every time the 6250 executes this move, the motor moves 1.5 revs from its resting position.
Continuous Mode The Continuous Mode (MC) is useful in the following situations: ❏ ❏ ❏ Buffered vs. Immediate Commands Example Applications that require constant movement of the load Synchronize the motor to external events such as trigger input signals Changing the motion profile after a specified distance or after a specified time period (T command) has elapsed You can manipulate the motor movement with either buffered or immediate commands.
Dithering Hydraulic Valves Dither is a square-wave signal added to the control output and is used to keep the hydraulic valve moving slightly for the purpose of reducing stiction (see illustration below). Two commands are used to select the amplitude and frequency of the dither signal—SDTAMP and SDTFR. TBD -- Illustration of dither square wave and amplitude/frequency. The SDTAMP command selects the amplitude of the dither signal in peak-to-peak volts (see illustration).
Stand-alone: Programmable I/O and Thumbwheel/TM8 interface Cut-to-length: Load the stock into the machine, enter the length of the cut on the thumbwheels, and activate a programmable input switch to initiate the predefined cutting process (axis #1). When the stock is cut, a sensor activates a programmable input to stop the cutting process and the 6250 then initiates a predefined program that indexes the stock forward (axis #2) into position for the next cut.
Output Functions You can turn the 6250's 26 programmable outputs on and off with the Output (OUT or OUTALL) commands, or you can use the Output Function (OUTFNC) command to configure them to activate based on seven different situations. The output functions are assigned with the OUTFNCi-c command. The "i" represents the number of the output (the 24 general purpose outputs are outputs 1 through 24, and OUT-A and OUT-B are outputs 25 and 26).
Example The following example defines output 1 and output 2 as Programmable outputs and output 3 as a Moving/Not Moving output. Before the motor moves 4,000 steps, output 1 turns on and output 2 turns off. These outputs remain in this state until the move is completed, then output 1 turns off and output 2 turns on. While the motor is moving, output 3 remains on.
Output on Position The Output on Position function for axis 1 (OUTFNC25-H) can be assigned only to output #25 (OUT-A), and the Output on Position function for axis 2 (OUTFNC26-H) can be assigned only to output #26 (OUT-B). The Output on Position parameters are configured with the OUTPA and OUTPB commands: (OUTFNCi-H) 1st data field (b): 2nd data field (b): 3rd data field (r): 4th data field (i): 1 enables the output on position function; Ø disables the function.
Example Command > INFNC > INFNC1 > INFNC1-D > INFNC1 > TIN Input Debounce Time Description Query status of all inputs; response indicating default conditions is: *INFNC1-A NO FUNCTION INPUT - STATUS OFF *INFNC2-A NO FUNCTION INPUT - STATUS OFF (response continues until all 26 inputs are reported) Query status of input #1; response indicating default conditions is: *INFNC1-A NO FUNCTION INPUT - STATUS OFF Change input #1 to function as a Stop input Query status of input #1; response should be now be: *IN
Input 2 Input 3 Input 4 Input 5 Input 6 Input 7 Input 8 2 4 8 10 20 40 80 If inputs 6, 9, 10 and 13 are selected instead of inputs 5, 6, 7 and 8, then the weights would be as follows: Input #6 Input #9 Input #10 Input #13 = = = = 10 20 40 80 Since 100 programs can be defined, a maximum of 9 inputs are required to select all possible programs. The program number is determined by the order in which the program was downloaded to the 6250. The program number can be obtained through the TDIR command. .
Disabling the Drive on a Kill Stop (INFNCi-D) If your application requires you to disable (shut down or de-energize) the drive in a Kill situation, set the 6250 to the Disable Drive on Kill mode with the KDRIVE1 command. In this mode, a kill command or kill input will shut down the drive immediately, letting the motor free wheel (without control from the drive) to a stop. When the drive is disabled, the SHTNC relay output is connected to COM and the SHTNO relay output is disconnect from COM.
☞ You can change the input debounce time with the INDEB command. Each position latch input has a 25-ms debounce time. Therefore, the maximum rate that the input can capture positions is 40 times per second. However, if your application requires a shorter debounce time, you can change it with the INDEB command (refer to the Input Debounce Time section provided earlier in this chapter).
One-to-One Program Select (INFNCi-aP) Inputs can be defined as One-to-One Program Select inputs (INFNCi-aP). This allows programs defined by the DEF command to be executed by activating an input. Different from BCD Program Select inputs, One-to-One Program Select inputs correspond directly to a specific program number. The program number is determined by the order in which the program was downloaded to the 6250. The program number can be obtained through the TDIR command.
You can connect the 6250's programmable I/O to a bank of thumbwheel switches to allow operator selection of motion or machine control parameters. The 6250 allows two methods for thumbwheel use. One method uses Compumotor's TM8 thumbwheel module. The other allows you to wire your own thumbwheels. The TM8 requires a multiplexed BCD input scheme to read thumbwheel data. Therefore, a decode circuit must be used for thumbwheels.
Using your own Thumbwheel Module Step ➀ As an alternative to Compumotor's TM8 Module, you can use your own thumbwheels. The 6250's programming language allows direct input of BCD thumbwheel data via the programmable inputs. Use the following steps to set up and read the thumbwheel interface. Refer to the 6000 Series Software Reference Guide for descriptions of the commands used below. Wire your thumbwheels according to the following schematic.
PLC Interface The 6250's optically-isolated programmable I/O may be connected to most PLCs with discrete inputs and outputs. The PLC should be able to sink at least 1mA of current on its outputs. For +5VDC operation, the programmable outputs may be pulled up to +5VDC using the programmable output pull-up (OUT-P) on the AUX connector; the programmable inputs are pulled up to +5V by connecting the IN-P terminal to the +5V terminal on the AUX connector.
To establish the velocity resolution, you must define the full-scale velocity and the usable voltage. Define FullScale Velocity You must define the full-scale velocity for your application with the JOYVH and JOYVL commands. Both commands establish the maximum velocity that can be obtained by deflecting the potentiometer fully CW or fully CCW. The JOYVH command establishes the high velocity range (selected if the joystick select input is high—sinking current).
No velocity when voltage is at 1.0V Joystick cannot reliably rest at 1.0V, but can rest within ±0.1V of 1.0V Joystick can only produce maximum of 2.3V and minimum of 0.2V Set center voltage with JOYCTR1,1, command, or set voltage level at both analog inputs to 1.0V and type in JOYZ11 Set center deadband of 0.1V with JOYCDB.1,.1 command (0.1V is the system default) Set end deadband to get max. velocity at 2.3V or 0.2V with the JOYEDB.2,.2 command. Voltage range: CW = 1.1V to 2.3V (1.2V total) CCW = 0.
Programming Example The following programming example will read the analog inputs into the 6250 and set the commanded analog output of each axis to that value. If you have a torque drive, this provides open-loop torque control. Command > SGPØ,Ø > SGIØ,Ø > SGVØ,Ø > SGAFØ,Ø > SGVFØ,Ø > SOFFSØ,Ø > L VAR1=1ANI VAR2=2ANI SOFFS(VAR1),(VAR2) T.
The RP240 is used as the 6250's operator interface, not a program entry terminal. As an operator interface, the RP240 offers the following features: ❏ ❏ ❏ Displays text and variables 8 LEDs can be used as programmable status lights Operator data entry of variables: read data from RP240 into variables and command value substitutions (see table in Appendix B of software guide) Typically the user creates a program in the 6250 to control the RP240 display and RP240 LEDs.
Using the Default Mode In addition to the 6250/RP240 operator interface features, there are some other built-in features that are described below. On power-up, the 6250 will automatically default to a mode in which it controls the RP240 with the menu-driven functions listed below. To disable this menu, a power-up user program (STARTP) must contain the CLEARØ command.
COMPUMOTOR 6250 SERVO CONTROLLER JOG STATUS DRIVE DISPLAY ETC RUN COMPUMOTOR 6250 SERVO CONTROLLER GO-BACK REV RESET ETC Program/Label to RUN is: MAIN FIND ALPHA <-> TRACE STEP AXIS 1: L/R LO 0.5000 AXIS 2: U/D HI 10.0000 JOG* SYSTEM STATUS AXIS 1 STATUS DRIVE 1: ON ON OFF DISPLAY: I/O LIMITS 72 EDIT AXIS 2 STATUS DRIVE 2: ON ON OFF JOY POS 6250 Servo Controller User Guide Default menu (first half): This is the default menu.
Access menu: If you press the GO-BACK function key at the default menu (second half), the 6250/RP240 will go back one additional level to the access menu. The access menu allows entry of the user definable RP240 password (DPASS). At this access menu level, only the run menu is allowed if the correct password has not been entered. The default password is 6250.
Variables The 6250 has 3 types of variables (numeric, binary, and string). There are 150 numeric variables, numbered 1 - 150. There are 25 binary and string variables, numbered 1 - 25. Each type of variable is designated with a different command. The VAR command designates a numeric variable, the VARB command designates a binary variable, and the VARS command designates a string variable. Variables do not share the same memory (i.e.
Subtraction (-) Multiplication (*) Division (/) Square Root Trigonometric Operations Sine Cosine Tangent Example > VAR3=2Ø-1Ø > VAR2Ø=15.5 > VAR3=VAR3-VAR2Ø : VAR3 Example > VAR3=1Ø > VAR3=VAR3*2Ø : VAR3 Example > VAR3=1Ø > VAR2Ø=15.5 : VAR2Ø > VAR3=VAR3/VAR2Ø : VAR3 > VAR3Ø=75 : VAR3Ø > VAR19=VAR3Ø/VAR3 : VAR19 Example > VAR3=75 > VAR2Ø=25 > VAR3=SQRT(VAR3) : VAR3 > VAR2Ø=SQRT(VAR2Ø)+SQRT(9) > VAR2Ø Response *VAR3=-5.5 Response *VAR3=+2ØØ.Ø Response *+15.5 *+Ø.64516 *+75.Ø *+116.
Inverse Tangent (Arc Tangent) Boolean Operations Boolean And (&) Boolean Or (|) Boolean Exclusive Or (^) Boolean Not (~) Example > RADIANØ > VAR1=SQRT(2) > VAR1=ATAN(VAR1/2) : VAR1 > VAR1=ATAN(.57735) : VAR1 Response *VAR1=+35.26 *VAR1=+3Ø.Ø The 6250 has the ability to perform boolean operations with its numeric variables. The following examples illustrate this capability. Refer to the 6000 Series Software Reference Guide for more information.
The Teach Mode is simply a method of storing (teaching) variable data and later using the stored data as a source for motion program parameters. The variable data can be any value that can be stored in a numeric (VAR) variable (e.g., position, acceleration, velocity, etc). The variable data is stored into a data program, which is an array of data elements that have a specific address from which to write and read the variable data. Data programs do not contain 6000 Series commands.
Teach the Data to the Data Program The data that you wish to write to the data elements in the data program must first be placed into numeric variables (VAR). Once the data is stored into numeric variables, the data elements in the data program can be edited by using the Data Pointer (DATPTR) command to move the data pointer to that element, and then using the Data Teach (DATTCH) command to write the datum from the numeric variable into the element.
Summary of Related 6000 Series Commands NOTE: A detailed description of each command is provided later. DATSIZ ..... Establishes the number of data elements a specific data program is to contain. A new DATPi program name is automatically generated according to the number of the data program (i = 1 through 9). The memory required for the data program is subtracted from the memory allocated for user programs (see MEMORY command). DATPTR .....
Step 1 Initialize a Data Program. > DEL DATP1 Delete data program #1 (DATP1) in preparation for creating a new data program #1 > DATSIZ1,1Ø Create data program #1 (named DATP1) with an allocation of 10 data elements. Each element is initialized to zero. Step 2 Define the SETUP Subroutine. Note that the SETUP subroutine need only run once. > DEF SETUP Begin definition of the subroutine called SETUP - JOYVH3,3 Set the high velocity speed to 3 rps - JOYVL.2,.2 Set the low velocity to 0.
Step 4 Define the DOPATH Subroutine. > DEF DOPATH Begin definition of the subroutine called DOPATH - HOM11 Move both axes to the home position (absolute counters set to zero) - A5Ø,5Ø Set up the acceleration - V3,3 Set up the velocity - DATPTR1,1,1 Select data program #1 (DATP1) as the current active data program, and set the data pointer to the first data element. Increment the data pointer one element after every data assignment with the DAT command.
RS-232C Daisy-Chaining Up to eight 6250s may be daisy-chained. There are two methods of daisy-chaining: one uses a computer or terminal as the controller in the chain; the other uses a 6250 as the master controller. The figure below illustrates examples of both daisy-chain types for three 6250s. Be sure to use the Rx, Tx and GND on the AUX connector, not the RP240 connector.
Step ➁ Connect the daisy-chain with a terminal as the master (see diagram above). It is necessary to have the error level set to 1 for all units on the daisy-chain (ERRLVL1). When the error level is not set to 1, the 6250 sends ERROK or ERRBAD prompts after each command, which makes daisy-chaining impossible.
Step ➃ After all programming is completed program execution may be controlled by either a master terminal (diagram above), or by a master 6250 (diagram above).
Daisy-Chaining and RP240s RP240s cannot be placed in the 6250 daisy chain; RP240s can only be connected to the designated RP240 port on a 6250. It is possible to use only one RP240 with a 6250 daisychain to input data for multiple units on the chain. The example below (for the 6250 master with an RP240 connected) reads data from the RP240 into variables #1 (data1) & #2 (data2), then sends the messages 3_Ddata1,data2 and 3_GO.
C H A P T E R ➅ Advanced 6250 Features The information in this chapter will enable you to understand and implement the 6250's advanced features into your application: ❏ ❏ S-Curve Profiling X-Y Linear Interpolation S-Curve Profiling The 6250 allows you to perform the usual trapezoidal profiles.
M axim u m A ccel/D ecel C o m m an d s: C o m m an d F u n ct io n A Acceleration AD Deceleration HOMA Home Acceleration HOMAD Home Deceleration JOGA Jog Acceleration JOGAD Jog Deceleration JOYA Joystick Acceleration JOYAD Joystick Deceleration LHAD Hard Limit Deceleration LSAD Soft Limit Deceleration PA Path Acceleration PAD Path Deceleration A ver ag e ( S- C u r ve) A ccel/D ecel C o m m an d s: C o m m an d F u n ct io n AA Average Acceleration ADA Average Deceleration HOMAA Average Home Acceleration
❏ ❏ If you increase the Aavg value above the pure Scurve level (Aavg > 1/2 Amax), the time required to reach the target velocity and the target distance decreases; however, increasing Aavg also increases jerk. After increasing A avg, you can reduce the jerk by increasing Amax (see illustration); however, increasing A m a x requires greater torque from the motor to achieve the commanded velocity at the mid-point of the acceleration profile.
Example Command > SCALE1 > PSCLA25ØØØ > PSCLV25ØØØ > @SCLD1ØØØØ > PA25 > PAD2Ø > PV2 > D1Ø,5 > GOL11 Description Enable scaling Set path acceleration scale factor to 25000 steps/unit Set path velocity scale factor to 25000 steps/unit Set distance scale factor to 10000 step/unit on all axes Set the path acceleration to 25 units/sec2 Set the path deceleration to 20 units/sec2 Set the path velocity to 2 units/sec Set the distance to 10 & 5 units on axes 1 & 2, respectively Initiate linear interpolated motion
C H A P T E R ➆ 6250 Programming Tips The information in this chapter will enable you to understand how to use the 6000 Series language to implement the 6250's features into your application: ❏ ❏ ❏ ❏ ❏ ❏ Creating Programs and Subroutines Controlling Execution of Programs and the Command Buffer Program Flow Control Program Debug Tools Program Interrupts Error Handling Creating Programs & Subroutines A program is a series of commands.
Command > MAØ > MCØ > LHØ Description Places axis 1 in the incremental mode Places axis 1 in the preset mode Disable axis 1 limits > > Begin definition of program prog1 Sets acceleration to 25 rps2 Sets deceleration to 25 rps2 Sets velocity to 10 rps Sets distance to 4,000 steps Executes the move (Go) Reverse direction Executes the move (Go) Ends definition of program Runs program prog1 DEF prog1 A25 AD25 V1Ø D4ØØØ GO1 D~ GO1 END RUN prog1 You can run a program by entering the RUN command immediately f
Translation Mode If you need to determine the memory required for each command, you can use the Translation Mode. While in the translation mode (enabled with the TRANS1 command), you simply type in the command in question and the 6250 responds with a hexadecimal number. The first byte (first two characters) of the response is the command's memory requirement. The remaining characters are merely a binary version of the command and can be ignored. To disable the translation mode, type in the TRANSØ command.
☞ The COMEXC mode allows the 6250 to pre-process the next move while the current move is still in COMEXC Mode allows faster execution of subsequent moves motion. Then, when the current move is considered complete (on both axes), the 6250 simply begins the next move. This reduces the processing time for the subsequent move to only a few microseconds.
COMEXS1: Upon receiving a stop input or stop command, motion will decelerate at the preset AD/ADA value, program execution will pause, and all commands following the command currently being executed will remain in the command buffer.
Unconditional Branching There are three ways to branch unconditionally: ❏ ❏ ❏ GOSUB: The GOSUB command branches to the program name or label stated in the GOSUB command. After the subroutine is completed, control is returned to the calling program where the branch occurred, starting with the line after the GOSUB. GOTO: The GOTO command transfers control from the current program being processed to the program name or label stated in the GOTO command.
Conditional looping (REPEAT/UNTIL and WHILE/NWHILE) entails repeating a set of commands until or while a certain condition exists. In conditional branching (IF/ELSE/NIF), a specific set of commands is not executed until a certain condition exists. Both rely on the fulfillment of a conditional expression, a condition specified in the UNTIL, WHILE, or IF commands.
Current Commanded & Actual Position The current commanded and actual positions (ANI, DAC, FB, PC, PCA, PCC, PCE, PER, PE) can be used within an expression, if the operand is compared against a numeric variable or value. When making the comparison, the relational operators (=, >, >=, <, <=, <>) and logical operators (AND, OR, NOT) are used.
Example DCLEARØ DWRITE"HIT F4" VAR3=DREADF IF (VAR3<>4) DCLEAR2 DWRITE"YOU DIDN'T LISTEN" NIF ☞ RP240 Data Read Immediate Mode Description Clear RP240 display Send message to RP240 display Wait for data to be read from a RP240 function key (into numeric variable 3) Evaluate expression to see if function key F4 was hit Clear RP240 display line 2 Send message to RP240 display End of IF The DREADI1 command allows continual numeric or function key data entry from the RP240 (when used in conjunction with the
WHILE All commands between WHILE and NWHILE are repeated as long as the WHILE condition is true. The following example illustrates how a typical WHILE/NWHILE conditional loop works.
The ON condition program must be defined (DEF) and specified (ONP) before enabling the ON conditions with the ONCOND command (see example below). Example Command > DEF onjump - VAR1=VAR1+1 - END > VAR1=Ø > ONIN1 > ONP onjump > ONCOND1ØØØ Description Begin definition of program onjump Increment variable 1 End program definition Initialize variable 1 On input 1 branch to ON program ON program is onjump Enable ONIN At this point, the 6250 is configured to increment variable 1 when input 1 goes active.
Step ➃ You will now execute program prog1. The commands will be displayed as each command in the program is executed.
Step ➃ To execute more than one command at a time, follow the !# sign with the number of commands you want executed: Command !#3 Description Executes three commands The response will be: *PROGRAM=PROG1 *PROGRAM=PROG1 *PROGRAM=PROG1 COMMAND=AD1Ø.ØØØØ COMMAND=V5.ØØØØ COMMAND=L3 To complete the sequence, use the # sign until all the commands are completed (!#16 would complete the example).
Display the function of the outputs with the OUTFNC command: Command > OUTFNC Description Displays the state of the outputs The response will be: *OUTFNC1-A PROGRAMMABLE OUTPUT - STATUS OFF *OUTFNC2-A PROGRAMMABLE OUTPUT - STATUS OFF *OUTFNC3-A PROGRAMMABLE OUTPUT - STATUS OFF . .
Step ➁ Enable the Trace mode so that you can view the program as it is executed: Command > TRACE1 Step ➂ Execute the program: Command > RUN prog8 Step Description Enables the trace mode Description Runs program prog8 ➃ The program will execute until the WAIT(IN=b11) command is encountered. The program will then pause, waiting for the input condition to be satisfied. Simulate the input state using the INEN command. Inputs with an E value are not affected.
The 6270 has the ability to detect and recover the following error conditions: ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ ❏ Hardware end-of-travel limit encountered on any axis (error bit #2) Software end-of-travel l limit encountered on any axis (error bit #3) Drive fault input activated any axis (error bit #4) Commanded kill or stop (error bit #5) Kill input activated (error bit #6) User fault input activated (error bit #7) Enable (ENBL) input open (error bit #9) Target zone settling timeout (error bit #11) Allowable position erro
In addition to canceling the branch to the error program, you must also remedy the cause of the error; otherwise, the error program will be called again when you resume operation. Refer to the How to Remedy the Error column in the table below for details.
Step 3 Enable the user fault error-checking bit by putting a 1 in the seventh bit of the ERROR command. After enabling this error-checking bit, the 6270 will branch to the error program whenever the user fault input is activated. Command > ERRORØØØØØØ1 Description Branch to error program upon user fault input (As an alternative to the ERRORØØØØØØ1 command, you could also enable bit #7 by issuing the ERROR.7-1 command.) Step 4 Test the error handling.
C H A P T E R ➇ Hardware Reference Use this chapter as a quick-reference tool for 6250 system specifications (general specifications, I/O circuit drawings and pin outs, and DIP switch settings). General Specifications The following table contains general specifications for the 6250. I/O pin outs and circuit drawings and optional DIP switch settings are provided later in this chapter. Parameter Specification Power AC or DC Input Status LED 85-240VAC (single-phase), 50/60Hz, 1.
Outputs (see also I/O Pin Outs & Circuit Drawings) 26 Programmable (includes OUT-A and OUT-B on AUX connector) Optically isolated, TTL-compatible*, open collector output. Can be pulled up by connecting OUT-P to +5V on the AUX connector, or to a usersupplied voltage of up to 24V. Max. voltage in OFF state (not sinking current) = 24V, max. current in ON state (sinking) = 30mA. 50-pin plug is compatible with OPTO-22™ signal conditioning equipment. Controllable with the 6000 Series programming language.
Encoder Connectors (For Use With Incremental Encoders Only) The following table lists the pin outs for the 6250's two 9-pin screw terminal ENCODER connectors. The internal encoder input circuit is shown below. In/Out Name 9 8 7 6 5 4 3 2 1 OUT IN IN IN IN IN IN --------- +5V A Ch. + A Ch. B Ch. + B Ch. Z Ch. + Z Ch.
Auxiliary (AUX) Connector Pin outs for the 6250's auxiliary (AUX) 14-pin screw terminal are listed below.
Internal Input Circuit Internal Analog Input Circuit +5VDC 25-Pin JOYSTICK Connector 25-Pin JOYSTICK Connector +5VDC 6.8 KΩ Input Connection 47 KΩ 74HCTxx Ground Connection ISO GND +5VDC 150 KΩ 35 V Analog Input Connection Ground Connection 10.0 KΩ 0.1 µF 49.9 KΩ This input circuit applies to Axes Select, Velocity Select, Joystick Release, Joystick Trigger, & Joystick Auxiliary.
Switch #3 6250 PCA Switch #2 Switch #1 Device Address OFF OFF OFF Ø (default) OFF OFF ON 1 OFF ON OFF 2 OFF ON ON 3 ON OFF OFF 4 ON OFF ON 5 ON ON OFF 6 ON ON ON 7 * Device address is checked upon power up or reset. Switch #4 ON = Auto Baud Enabled Switch #4 OFF = Auto Baud Disabled (default) Following these steps to implement the Auto Baud feature: DIP Switch N O Factory Default Setting Shown 1 2 3 4 106 6250 Servo Controller User Guide 1. Change Switch #4 to the ON position. 2.
C H A P T E R ➈ Troubleshooting The information in this chapter will enable you to isolate and resolve system hardware and software problems. Troubleshooting When your system does not function properly (or as you expect it to operate), the first thing that you must do is identify and isolate the problem. When you have accomplished this, you can effectively begin to resolve the problem.
Reducing Electrical Noise For detailed information on reducing electrical noise, refer to Appendix A. Common Problems & Solutions The following table presents some guidelines to help you isolate problems with your motion control system. Some common symptoms are listed along with a list of possible causes and remedies. ❏ ❏ ❏ ❏ Look for the symptom that most closely resembles what you are experiencing.
Problems, Causes & Solutions (cont.) Program execution: the first time a program is run, the move distances are incorrect. Upon downloading the program the second time, move distances are correct. Programmable inputs not working 1. Scaling parameters were not issued when the program was downloaded; or scaling parameters have been changed since the program was defined 1. Issue and the scaling parameters (SCALE1, SCLA, SCLD, SCLV, PSCLA, PSCLD, PSCLV) before saving any programs 1.
Returning the System If you must return your 6250 system to affect repairs or upgrades, use the following steps: 110 ➀ Get the serial number and the model number of the defective unit, and a purchase order number to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty.
Appendix A: Reducing Electrical Noise Noise-related difficulties can range in severity from minor positioning errors to damaged equipment from runaway motors crashing blindly through limit switches. In microprocessor-controlled equipment such as the 6250, the processor constantly retrieves instructions from memory in a controlled sequence. If an electrical disturbance occurs, it may cause the processor to misinterpret an instruction or access the wrong data.
control computer is using RS-232C communication. Symptoms like garbled transmissions and intermittent operation are typical. The problem occurs in systems where multiple Earth ground connections exist, particularly when these connections are far apart. Ground Loops—Noise Scenario Suppose a 6250 is controlling an axis, and the limit switches use an external power supply. The 6250 is controlled by a computer in another room.
Appendix B: Alphabetical Command List Command Name Command Description Command Name Command Description [ [ [ ! @ ; $ # ' [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ [ Carriage Return Line Feed Colon Immediate Command Identifier Global Command Identifier Begin Comment Label Deceleration Step Through a Program Enter Data (Single quote) Bit Select Begin and End String ASCII Character Designator Assignment or Equivalence Greater Than Greater Than or Equal Less Than Less Than or Equal Not Equal Operation Priorit
Command Name Command Description Command Name Command Description IF( ) [ IN ] INDAX INDEB INDUSE INDUST INEN INFEN INFNC INLVL [ INO ] INPLC INSELP INSTW If Statement Input Status Participating Axes Input Debounce Time Enable/Disable User Status User Status Input Enable Input Function Enable/Disable Input Function Input Active Level Other Input Status Establish PLC Data Inputs Select Program Enable Establish Thumbwheel Data Inputs JOG JOGA JOGAA JOGAD JOGADA JOGVH JOGVL JOY JOYA JOYAA JOYAD JOYADA JO
Command Name Command Description Command Name Command Description STARTP STEP STRGTD STRGTE STRGTT STRGTV Set Power-up Program Program Step Mode Enable Servo Target Zone Distance Servo Target Zone Mode Enable Servo Target Zone Timeout Period Servo Target Zone Velocity WAIT( ) WHILE( ) WRITE" " WRVAR WRVARB WRVARS Wait for a Specific Condition While a Condition is True Transmit a String to the PC Transmit a Variable Transmit a Binary Variable Transmit a String Variable T [ TAN( ) ] TANI TPCE TPE TPE
Appendix C: Index 6000 DOS Support Disk 20, 44 6000 Series Command Language 43 6000 Series Software Reference Guide iv, 43 6250 description 1 6250 features 2 6250 general system specifications 101 6250 operating system 43 6250 ship kit 3 A absolute mode 52 absolute position absolute positioning mode 51 absolute zero position 52 reset to zero after homing 49 status 52 acceleration change on the fly 53 s-curve profiling 79 scaling 46 acceleration feedforward control (SGAF) 28 accuracy 44 actual position 23
F factory defaults connections 3 DIP switches 105 fault output 57 feedback data 21 full duplex 4 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 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 & humidit
pre-wired connections 3 precautions installation 7 mounting 8 preset (normal) mode 52 PROCOMM™ 4 programmable inputs and outputs 54-65 95, 96, 103 input function assignments 58 output function assignments 55 screw terminal connections 14 test 18 used in binary variable 55 used in conditional branching & looping 55 used in program interrupt 55 programming 83 debug tools 93 editing programs 44 in 6000 DOS support software 44 in Motion Architect 44 error programs 45 error responses 97 executing programs 86, 87
Appendix C: Calculating Your Own Gain Values This appendix explains how to calculate the 6250's servo system transfer functions in generic polynomial terms (as an alternative to letting Motion Architect® calculate them for you).
most controls textbooks. The second-order system is of the form: H(S) = ξ Where, S2 + ω n2 2 ξ ω nS Equating this with our system, KP2πKAa = (a + KPKV2πKAa) = 2ξωn ω n2 + KP = = damping ratio ωn = natural frequency The time constant of this system is 1 ωn KV = . The damped frequency is ωd = ωn √ 1 - ξ2. For the output to settle to within 2% of its stead state value when a step input is applied, it will take four time constants, 4 or TS = , to settle to within 2%.
The PIV tuning transfer function is a third-order system with a single zero. We want to fit the classical second-order system equation used for PV tuning to this transfer function.
