User guide

➇ Hardware Reference 101
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, 1.8A @ 120VAC; or 110 - 340VDC
Refer to the Common Problems & Solutions table in Chapter 9
Environmental
Operating Temperature
Storage Temperature
Humidity
32°F to 122°F (0°C to 50°C)
-22°F to 185°F (-30°C to 85°C)
0% to 95% non-condensing
Performance
Position Range
Velocity Range
Acceleration Range
Velocity Accuracy
Velocity Repeatability
Motion Trajectory Update Rate
Servo Sampling Update Rate
Calculation to determine contouring deviation from an arc
(due to straight-line approximation to a curve)
±2,147,483,648 steps
0.001 to 200 revs/sec
0.001 to 999.9999 revs/sec
2
±0.02% of maximum rate
±0.02% of set rate
Default is 1.1 ms (programmable with the SSFR command)
Default is 275 µs (programmable with the SSFR command)
Error in steps = [
[V
p
(0.001 sec)
2
]
2r
]
Where: V
p
= steps/sec, r = radius in steps
RS-232C Interface
Connections
Maximum number of daisy-chained 6250s
Address settings
Communication Parameters
3-wire (Rx, Tx and GND) connection to the AUX connector
Up to 8 units
DIP switch Selectable (see Optional DIP Switch Settings ), or use ADDR
9600 baud (auto-baud option—see Optional DIP Switch Settings ), 8 data
bits, 1 stop bit, no parity bit, full duplex
Inputs (see also I/O Pin Outs & Circuit Drawings )
Home, CW/CCW Limits, Joystick Trigger, Joystick Release,
Axes Select, Joystick Velocity, Drive Fault (DFT), Enable (ENBL)
Incremental Encoder
24 Programmable
Triggers (triggers [TRG-A and TRG-B] on AUX connector)
Analog (Joystick)
Analog (± 10V ioruib uboyra
Optically isolated; TTL-compatible*; internal 6.8 KΩ pull-ups to 5V;
voltage range is 0 - 24V.
Optically isolated; Differential comparator accepts two-phase quadrature
encoders with differential (recommended) or single-ended outputs
(+5VDC TTL-compatible*). Maximum frequency = 1.2 MHz. Minimum
time between transitions = 833 ns.
Optically isolated; TTL-compatible* with internal 6.8 KΩ pull-up (connect
IN-P to +5V to source current or connect IN-P to GND to sink current).
Voltage range = 0V - 24V. 50-pin plug is compatible with OPTO-22™
signal conditioning equipment. Controllable with the 6000 Series
programming language.
Optically isolated; TTL-compatible* with internal 6.8 KΩ pull-up to
+5VDC. Controllable with the 6000 Series programming language.
Voltage range = 0 - 2.5VDC, 8-bit A/D converter. Input voltage must
not exceed 5V.
Voltage range = ± 10V, 14-bit A/D (6250-ANI only)
* TTL-compatible voltage levels: Low ≤ 0.4V, High ≥ 2.4V
Specifications Table (cont.)