User guide

18 6250 Servo Controller User Guide
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.
SHLD
+5VDC
Analog Channel 1
Analog Channel 2
Velocity Select
Axes Select
Joystick Release
Joystick Trigger
GND
Velocity Select
Axes Select
N.O. Momentary
Joystick Trigger
Joystick potentiometers are 5K Ω with
60 ° of usable travel adjusted to span
0 Ω to 1K Ω .
N.C. Momentary
Joystick Release
1KΩ Resistors *
5KΩ
X Axis
5KΩ
Y Axis
Joystick Auxiliary
Joystick Aux.
Joystick
The 1K Ω resistors for velocity select,
axes select, joystick trigger, & joystick
auxiliary are for noise suppression only.
*
J
O
Y
S
T
I
C
K
23
1
2
16
15
17
18
19
14
8
Axes Select Input
You can define two configurations (JOYAXH and JOYAXL) that define which axes are
controlled by which channels. The axes select input allows you to select the current
configuration. An axes select input high references the JOYAXH command. An axes select
input low references the JOYAXL command.
One possible configuration is as follows: With axes select input high, analog channel #1
controls axis one and analog channel #2 controls axis two (JOYAXH1,2). With axes select
input low, analog channel #3 controls both axes (JOYAXL3,3).
Velocity Select
Input
This input may be used to select either the high (high level-on input) or low (low level-on
input) velocity range as defined with the JOYVH and JOYVL commands, respectively. The
high range could be used to quickly move to a location while the low range could be used for
accurate positioning. Refer to the illustration above. When this input is not connected, the
low velocity range is selected.
Joystick Release
Input
The joystick release input allows you to indicate to the 6250 that you have finished using the
joystick and program execution may continue with the next statement. When a program
enables joystick control of motion, program execution will stop and then resume when the
user is finished with joystick mode (assuming the Continuous Command Execution Mode is
disabled with the COMEXCØ command).
The joystick release input has an internal pull-up resistor to +5V. When the joystick release
input is not grounded, joystick enable statements (JOY1) will be disabled upon execution. To
enable the joystick mode, the joystick release input must be inactive (connected to ground).
Refer to the illustration above.
Joystick Trigger
Input
The status of this input can be read by a program and may be used to control program flow
(see INO and TINO command). Refer to the illustration above.
Joystick Auxiliary
Input
The status of this input can be read by a program and may be used to control program flow
(see INO and TINO command). Refer to the illustration above.
ANI Analog Input Connections (6250-ANI Option Only)
☞
Application
considerations are
discussed in Chapter 5.
The 6250-ANI option offers two ±10V, 14-bit analog inputs
(one ANI terminal found on each of the DRIVE connectors).
These inputs are sampled at the servo sample rate (set with
the SSFR command). The ANI input values are reported
with the TANI and [ANI] commands.
±10V Analog Input Source
Signal Source
Ground
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1