User guide

➂ Installation 17
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. If you connect the RP240 to the 6250 before powering up the 6250, the
6250 will recognize the RP240 and send the *RP24Ø CONNECTED message to the RS-232C
terminal. If the 6250 does not detect a RP240 upon power up or reset, then the following
message will be sent to the RS-232C terminal: *NO REMOTE PANEL.
Connector on back panel
of RP240
Connector on
RP240
+5V
GND
Rx
Tx
SHLD
GND
Rx
Tx
+5V
Joystick and Analog Input Connections
You can use the three analog inputs on the JOYSTICK connector for 2-axis joystick control of
the axes, and/or as a low-resolution analog input (8-bit A/D, 1mV/bit) for process control.
The Daedal JS6000 joystick is compatible with the Compumotor 6250. To order the JS6000,
contact Daedal at [phone] or contact your local distributor.
Refer to Chapter 5
for a detailed
discussion of joystick
control.
The input range of the analog input is 0V to 2.5V. A joystick with a linear taper 5KΩ
potentiometer (pot) with 60° of travel is recommended (the pot has 300 ° of travel, but
typically only 60 ° is usable with a joystick). The pot should be adjusted so that its resistance
is close to 0Ω when the joystick is all the way to one side, and about 1KΩ when the joystick
is all the way to the other side. Also, connect a 1KΩ resistor between the analog input and
+5V.
Joystick
Connector
Pin Outs
The JOYSTICK connector is a 25-pin D connector. The pin-out descriptions are provided in the
table below. The 6250's internal analog input circuit diagram is provided in Chapter 8,
Hardware Reference.
Pin In/Out Name Description
1 IN Analog Channel 1 8-bit analog input for joystick control of axis (can override with the ANVOEN and ANVO commands)
2 IN Analog Channel 2 8-bit analog input for joystick control of axis (can override with the ANVOEN and ANVO commands)
3 IN Analog Channel 3 8-bit analog input for joystick control of axis (can override with the ANVOEN and ANVO commands)
4 — Unused ---------------
8 — Shield Shield
14 — Ground Ground
15 IN Axes Select If only using one analog input, 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 Input to release the 6250 from joystick mode (JOY). Same as issuing the !JOYØØ command.
Program execution will continue with the first statement after the joystick enable (JOY1) command.
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, or to teach positions to a program.
23 OUT +5VDC (out) +5VDC power output