User guide

22 6250 Servo Controller User Guide
If the encoder is mounted directly to the motor, then to ensure that the motor will move
according to the programmed distance and velocity, the 6250's resolution must match the
encoder's resolution. Use the ERES command to set the 6250's resolution (default setting
is 4,000 counts/rev, selectable range is 200 to 1,024,000).
NOTE
The programming examples throughout this user guide assume an encoder resolution of
4,000 counts post-quadrature (ERES4ØØØ,4ØØØ).
Kill's Effect on the Drive:
Normally, when you issue a Kill command (K, !K, or <ctrl>K) or activate a general-
purpose input configured as a kill input (see INFNCi-C command), motion is stopped at
the hard limit (LHAD/LHADA) deceleration setting and the drive is left in the enabled state
(DRIVE11).
However, your application may require you to disable (shut down or de-energize) the drive in
a Kill situation to, for example, prevent damage to the motor or other system mechanical
components. If so, set the 6250 to the Disable Drive on Kill mode with the KDRIVE1
command. In this mode, a kill command or kill input will shut down the drive
immediately, letting the motor free wheel (without control from the drive) to a stop. When
the drive is disabled (DRIVEØØ), the SHTNC relay output is connected to COM and the
SHTNO relay output is disconnected from COM. To re-enable the drive, issue the DRIVE11
command.
Step ➂ Determine Your Application's Motion Control Requirements
Applications can vary greatly from one to another. Consequently, the 6250 is equipped with
many motion control features to satisfy a wide variety of application requirements—but not all
features are appropriate for every application. Therefore, you must first determine the
necessary motion features you need for your application. Once you have done that, you can
proceed to Chapter 4 to tune the 6250, and Chapters 5 through 7 to find out how to
implement the 6250's motion control features in your application.
Step ➃ Tune the Servo System (Chapter 4)
Chapter 4 describes the 6250's tuning options and how to implement them.
To effectively tune the 6250, as well as the drives, we recommend using the interactive tuning
features in the Motion Architect
®
Servo Tuner option. It greatly improves your efficiency and
gives you powerful graphical tools to measure the performance of the system. If you do not use
Motion Architect, the only methods to monitor system performance are to use visual inspection
(eyeballing it) or to use expensive lab equipment such as an oscilloscope.
NOTE
The Servo Tuner option is an add-on module and does not automatically come with the basic
Motion Architect software package. To order your copy of the Motion Architect Servo Tuner,
which is provided on a separate disk, contact your local Automation Technology Center.
Step ➄ Implement the Necessary 6250 Features (Chapters 5 - 7)
Chapters 5 through 7 describe how to implement the 6250's features in your application. You
will develop your application by creating and refining motion programs using the 6000 Series
Command Language. We recommend you use Motion Architect
®
or the 6000 DOS Support
Disk to aide in your programming efforts. Motion Architect and the 6000 DOS Support Disk
are discussed briefly in Chapter 5, but for detailed user information refer to the Motion
Architect User Guide or the 6000 DOS Support Disk Quick Reference.