User guide
20
6250 Servo Controller User Guide
NOTE
The following table is based on the assumption that you have not changed the active levels of the
6250's inputs and outputs. Verify these settings with the following
status
commands:
Command Entered Response Should Be
INLVL *INLVLØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ
HOMLVL *HOMLVLØØ
LHLVL *LHLVLØØØØ
OUTLVL *OUTLVLØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ
Connections Test Procedure Response Format (left to right)
End-of-travel
and Home
limits
NOTE: If you are not using end-of-travel limits, issue the Disable Limits (LHØ,Ø) command
and ignore the first two bits in each response field.
➀ Close the end-of-travel switches and open the home switches.
➁ Enter the TLIM command. The response should be *TLIM11Ø_11Ø.
➂ Open the end-of-travel switches and close the home switches.
➃ Enter the TLIM command. The response should be *TLIMØØ1_ØØ1.
➄ Close the CW end-of-travel switch on axis 1 and open the home switch on axis 2.
➅ Enter the TLIM command. The response should be *TLIM1Ø1_ØØØ.
TLIM response:
bit 1 = axis 1 CW limit
bit 2 = axis 1 CCW limit
bit 3 = axis 1 home limit
bit 4 = axis 2 CW limit
bit 5 = axis 2 CCW limit
bit 6 = axis 2 home limit
Analog Output
Signal
➀ If the drives are connected to the 6250's DRIVE connectors, disconnect them now.
➁ Set all the gains to zero by entering the following: SGPØ,Ø, SGIØ,Ø, SGVØ,Ø,
SGAFØ,Ø, SGVFØ,Ø
➂ Enable the 6250 to send out the analog command by entering the DRIVE11 command.
➃ Set the DAC output limit to 10 volts by entering the DACLIM1Ø,1Ø command.
➄ Drive the analog output to the maximum positive range by entering the SOFFS1Ø,1Ø
command.
➅ Enter the TDAC command to check the analog output value. The response should be
*TDAC+1Ø,1Ø.
➆ Using a Digital Volt Meter (DVM), measure the actual analog output voltage between the
CMD+ (analog command) and CMD- (analog command return) terminals. Compare the
DVM reading to the entry for the SOFFS command (see step 5). With SOFFS1Ø, the DVM
should read between +9.995V and +10.005V in a properly grounded and noise-free
environment. If the reading deviates more than 0.1V from +10V, then there is either a
problem with the system's grounding connection or the 6250's DAC is not functioning
properly.
➇ Repeat steps 5 through 7, using these servo output offset values:
SOFFS-1Ø,-1Ø
SOFFSØ,Ø
SOFFS.ØØ5,.ØØ5
SOFFS-.ØØ5-.ØØ5.
TDAC response (output voltage):
±axis 1, ±axis 2
Encoder
Feedback
➀ Enter the PSETØ,Ø command to set the commanded motor position on both axes to zero.
➁ Enter the TPE command to determine the actual motor position. The response should be
close to *TPE+Ø,+Ø (both motors at or about position zero).
➂ Enter the TPC command to determine the commanded motor position. The response
should be *TPC+Ø,+Ø (both motors at position zero).
➃ Enter the TPER command to determine the position error between the commanded position
(TPC) and the actual position (TPE). The response should be close to *TPER+Ø,+Ø.
➄ Rotate encoders 1 rev: If the encoders are not coupled to the motors, manually rotate both
encoders approximately one revolution in the clockwise direction. If the encoders are
coupled to the motors, manually rotate both motors approximately one revolution.
➅ Enter the TPE command to determine the actual motor position. The response should be
close to *TPE+4ØØØ,+4ØØØ (That is the response if the encoder resolution is 4000
counts/rev and you have not changed the default resolution settings—the 6250's default
resolution is 4000, which is set with the ERES command. If your encoder's resolution is not
4000 counts/rev, enter its resolution with the ERES command).
➆ Enter the TPER command. The response should be close to *TPER-4ØØØ,-4ØØØ
(4000-count position error), which is the difference between the commanded position (TPC)
and the actual position (TPE).
TPER response (encoder counts):
±encoder 1, ±encoder 2
TPE response (motor counts):
±encoder 1, ±encoder 2
TPC response (commanded pos.):
±axis 1, ±axis 2
Programmable
Inputs
(incl. triggers)
➀ Open the input switches or turn off the device driving the inputs.
➁ Enter the TIN command.
The response should be *TINØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ.
➂ Close the input switches or turn on the device driving the inputs.
➃ Enter the TIN command.
The response should be *TIN1111_1111_1111_1111_1111_1111_11.
TIN response:
bits 1-24 = prog. inputs 1 - 24
bits 25 & 26 = TRG-A & TRG-B
Programmable
Outputs
➀ CAUTION: Disconnect all programmable outputs before proceeding to step ➁.
➁ Enter the OUTALL1,26,1 command to turn on (sink current on) all outputs.
➂ Enter the TOUT command.
The response should be *TOUT1111_1111_1111_1111_1111_1111_11.
➃ Enter the OUTALL1,26,Ø command to turn off all outputs.
➄ Enter the TOUT command.
The response should be *TOUTØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ.
TOUT response:
bits 1-24 = prog. outputs 1 - 24
bits 25 & 26 = OUT-A & OUT-B