User guide

Appendix C: Index 117
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
address 77
DIP switch settings 105
on daisy chain 77
airborne contaminants 8
allocating memory 85
alphabetical command list 113
analog input
analog input channels (on joystick
connector) 15, 16
overriding (ANVO) 67, 95
analog input option (6250-ANI) 16, 68
application examples 54
assumptions
skills required to use the 6250 iii
auto baud feature 4, 105, 109
automatic program execution 85
auxiliary (AUX) connector 104
auxiliary programmable outputs 2, 13
axes select input 16
axis status 90
B
baud rate 4, 105
auto baud feature 105
BCD program select input 59
begin program definition (DEF) 83
bench test 4
binary variables (VARB) 73, 75, 89
bitwise operations 73, 75
and (&) 75
exclusive or (^) 75
not (~) 75
or (|) 75
block diagram
system hardware 2
boolean operations 75
branching 2, 88
buffered commands 53, 83
bulletin board service (BBS) 44
C
cables
custom
E Series encoder 17
I/O 17
RS-232C 109
shielding 17
capture encoder position 61
ccw end-of-travel limits 48, 104
ccw jog input (INFNCi-aK) 62
ccw limits 11
center joystick position 66
chattering servo response 24
checksum 84
circuit drawings 102
analog output 102
command 102
drive enable 102
drive fault 102
encoder input 103
joystick/analog input 104
limit inputs 104
programmable I/O 104
shutdown 102
trigger input 104
closed-loop operation 11, 21
command signal (definition of) 21
commands
command buffer 60, 87
after stop 60, 87
storage 85
errors in programming 97
execution of 85, 87
immediate 53, 83
list, alphabetical 113
queue 53
commanded position 22
communications
communication parameters 4
computer-to-terminal conversion 4
daisy-chaining 76
conditional branching 2, 89, 92
conditional looping 89, 91, 92
conduit 7, 17
configuration
controller 19
DIP switch settings (auto-baud & address)
77, 105
drive fault level 19
inputs 58
jogging 62
outputs 55
system iv
thumbwheel 64
connections
AC power cable 5
analog input 15
ANI inputs 16
drive 9
encoder 12
factory default 3
installation process overview iv
joystick 15
limits
end-of-travel 11
home 11
PLC 65
RP240 15
RS-232C 4
daisy-chain 76
thumbwheels 63
TM8 Thumbwheel Module 63
VM50 adaptor 14
contaminants 8
continue 61, 86
continue command (!C) 60, 87
continue execution of commands/programs
continuous command execution mode
(COMEXC) 16, 53, 86
on pause/resume (COMEXR) 61, 86
on soft or hard limit (COMEXL) 86
on stop (COMEXS) 60, 87
continuous mode (MC1) 51, 53
control signal 21
output saturation 22
controlling execution of programs and the
command buffer 60, 83-85
coordinate measurement machines 61
critically damped servo response 24
Crosstalk™ 4
cw end-of-travel limits 48, 104
cw jog input (INFNCi-aJ) 62
cw limits 11
D
daisy-chaining 76, 105
including RP240 78
damping 24
data bits 4
data read from the RP240 90
data read from the serial port 90
DC common 111
deadband
joystick 66
debounce time for inputs
general-purpose & trigger inputs 58, 61
program select input (INSELP) 60
debugging tools 93
simulating analog channel voltages 95
single-step mode 94
trace mode 93
deceleration
s-curve profiling 79
scaling 46
defeating noise 112
delimiter 84
device address 77, 105
dimensions 8
DIP switch settings
address 105
baud rate 105
distance
scaling (SCLD) 48
fractional step truncation 47
disturbance 23
rejection of 26
DOS Support Disk 44
drive 45
configuration 19
connections 10, 102
fault input 58
active level (DRFLVL) 19
on/off status LEDs 5
shutdown on kill 20, 60
tuning procedure 31
E
earth (AC power ground) 5, 111, 112
electric codes iv
electrical noise 7, 17, 30, 108, 111
electro-static discharge (ESD) 105
electronic sensors 14
electronics concepts iii
ELSE 92
enable (ENBL) input 3, 13, 45
encoder
compatibility 12
Compumotor E Series cable colors 12
connections 12, 103
custom cabling 17
differential outputs 12
feedback for servo control 21
position 23, 90
after ENBL stop 13
capture 13
resolution 19, 46
single-ended outputs 12
test 18
Z channel 11
end point for linear interpolation 81
end program definition (END) 83
end-of-travel limit inputs 11, 45, 48, 53, 104
error handling 45, 98
error level 1 on power up 76
error program 13, 98
error responses 97
error status 90
externally conducted noise 111