User guide

104 6250 Servo Controller User Guide
Auxiliary (AUX) Connector
Pin outs for the 6250's auxiliary (AUX) 14-pin screw terminal are listed below.
Pin In/Out Name Description
1 IN Rx Receive input for RS-232C interface
2 OUT Tx Transmit output for RS-232C interface
3 ------ GND Isolated ground for RS-232C interface
4 ------ SHLD Shield —Internally connected to chassis ground (earth)
5 OUT +5V Connect to OUT-P to power the 26 programmable outputs. 1.8A limit (applies to total load on all of the I/O
connectors) — e.g., if 2 encoders are drawing at total of 500mA, then 1.3A is left for other purposes.
6 OUT OUT-P Internally connected to pull-up resistors for the 24 general-purpose programmable outputs. Connecting this
input to the +5V pin (this is already done at the factory) makes the outputs TTL compatible. Connection to other
voltages (max. = 24V) allows for compatibility with other signal levels.
7 IN IN-P Internally connected to pull-up resistors for the 24 general-purpose programmable inputs. Connect this input to
the +5V pin (already done at the factory) to source current; or connect to GND to sink current. Connection to
other voltages (max. = 24V) allows for compatibility with other signal levels. Does not apply to triggers.
8 IN TRG-A Trigger input A: Like programmable inputs, but can function as a position latch input that latches positions within
1 encoder count of the trigger being activated (see INFNC command). Internal circuit is identical to the limit
input (see limit input circuit drawing below). Not affected by the INLVL command.
9 IN TRG-B Same function as trigger input A above
10 ------ GND Isolated ground
11 OUT OUT-A Auxiliary programmable output A: Function and circuit is identical to the other 24 programmable outputs (see
programmable I/O circuit drawing above)
12 OUT OUT-B Same function as auxiliary programmable output A above
13 ------ GND Isolated ground
14 IN ENBL Enable input. Normally grounded. When contact to ground is broken, the analog output signal to the drive is set to
ØV and the shutdown outputs are activated; this occurs independent of the DSP and the microprocessor. Internal
input circuit is identical to the limit circuit below.
Limits (LIM1/2) Connector
The following table contains the pin outs for the 6250's limit (LIM 1/2) 9-pin screw terminal.
The internal limit input circuit is illustrated below.
Pin In/Out Name Description Schematic
9
8
7
6
5
4
3
2
1
IN
IN
IN
—
IN
IN
IN
—
—
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
Clockwise limit input for axis 1
Counter-clockwise limit input for axis 1
Home limit input for axis 1
Isolated ground
Clockwise limit input for axis 2
Counter-clockwise limit input for axis 2
Home limit input for axis 2
Isolated ground
Shield —Internally connected to chassis ground (earth)
Internal Limit Input Circuit
ISO GND
74HCTxx
6.8 KΩ
47 KΩ
Limit Input
Ground
+5VDC
9-Pin Screw Terminal
LIM 1/2 Connector
Joystick Connector
Pin outs for the 6250's Joystick 25-pin D connector are listed below. The following illustration
shows the internal input circuits.
Pin In/Out Name Description
1 IN Analog Channel 1 8-bit, analog input for joystick control of axis. Input voltage must not exceed 5V.
2 IN Analog Channel 2 8-bit, analog input for joystick control of axis. Input voltage must not exceed 5V.
3 IN Analog Channel 3 8-bit, analog input for joystick control of axis. Input voltage must not exceed 5V.
8 — Shield Shield
14 — Ground Isolated Ground
15 IN Axes Select If using only one analog channel, you can use this input to alternately control axes 1 or 2
16 IN Velocity Select
Input to select high or low velocity range (as defined with JOYVH or JOYVL command)
17 IN Joystick Release When low (grounded), joystick mode can be enabled. When high (not grounded), program execution
will continue with the first command after the joystick enable (JOY) statement.
18 IN Joystick Trigger
Status of this active-low input can be read by a program (using the INO or TINO commands) to
control program flow, or to enter the 6250 into joystick mode.
19 IN Joystick Auxiliary
Status of this active-low input can be read by a program (using the INO or TINO commands) to
control program flow.
23 OUT +5VDC (out) +5VDC power output