User guide

TABLE OF CONTENTS
Overview........................................................................................................... iii
Assumptions................................................................................................................................. iii
Contents of This User Guide............................................................................................................. iii
Installation Process Overview.......................................................................................................... iv
Conventions ................................................................................................................................. iv
Chapter 1: Introduction....................................................................................... 1
6250 Description............................................................................................................................ 1
6250 Features............................................................................................................................... 2
Chapter 2: Getting Started................................................................................... 3
Inspect The Shipment..................................................................................................................... 3
Bench Test................................................................................................................................... 4
➀ RS-232C Communications............................................................................................... 4
➁Connect Power Cable ..................................................................................................... 5
➂ Test Procedure ............................................................................................................. 5
Chapter 3: Installation........................................................................................ 7
Installation Precautions .................................................................................................................. 7
➀ Mount the 6250 ......................................................................................................................... 8
➁ System Connections.................................................................................................................. 9
Motor Driver Connections .................................................................................................... 9
End-of-Travel Limit Connections ........................................................................................... 11
Home Limit Connections...................................................................................................... 11
Encoder Connections ......................................................................................................... 12
Auxiliary +5V Output Connection........................................................................................... 12
Output and Input Pull-up Connections.................................................................................... 12
Enable Input Connection ..................................................................................................... 13
Programmable Inputs & Outputs Connections.......................................................................... 13
Trigger Input Connections.................................................................................................... 14
RP240 Front Panel Connections............................................................................................ 15
Joystick and Analog Input Connections.................................................................................. 15
ANI Analog Input Connections (6250-ANI Option Only).............................................................. 16
Extending 6250 System Cables ............................................................................................ 17
➂ Installation Verification............................................................................................................... 17
➃ What's Next?............................................................................................................................ 19
Chapter 4: Servo Tuning...................................................................................... 21
Servo System Terminology .............................................................................................................. 21
Servo Tuning Terminology.................................................................................................... 21
Position Variable Terminology............................................................................................... 22
Servo Response Terminology............................................................................................... 23
6000 Series Servo Commands.......................................................................................................... 25
Servo Control Techniques................................................................................................................ 26
Proportional Feedback Control (SGP)..................................................................................... 26
Integral Feedback Control (SGI)............................................................................................ 27
Velocity Feedback Control (SGV).......................................................................................... 28
Velocity Feedforward Control (SGVF)..................................................................................... 28
Acceleration Feedforward Control (SGAF)............................................................................... 28
Tuning Setup Procedure.................................................................................................................. 29
Drive Tuning Procedure (Velocity Drives Only)..................................................................................... 31
Controller Tuning Procedure............................................................................................................. 32
Tuning Scenario............................................................................................................................. 38
Target Zone (Move Completion Criteria) .............................................................................................. 40