User guide

ii 6250 Servo Controller User Guide
Chapter 5: Basic 6250 Features............................................................................. 43
Before You Proceed With This Chapter............................................................................................... 43
6000 Series Software Reference Guide .................................................................................. 43
Compumotor Bulletin Board Service....................................................................................... 44
Basic Motion Control Concepts............................................................................................. 44
Support Software........................................................................................................................... 44
6000 DOS Support Disk....................................................................................................... 44
Motion Architect
®
.............................................................................................................. 44
6250 Safety Features ..................................................................................................................... 45
Scaling ........................................................................................................................................ 46
Acceleration & Deceleration Scaling (SCLA/PSCLA) ................................................................. 46
Velocity Scaling (SCLV/PSCLV)............................................................................................ 46
Distance Scaling (SCLD) ..................................................................................................... 47
End-of-Travel Limits ....................................................................................................................... 48
Homing ........................................................................................................................................ 48
Positioning Modes.......................................................................................................................... 51
Preset Mode ..................................................................................................................... 52
Continuous Mode............................................................................................................... 53
User Interface Options.................................................................................................................... 54
Programmable Inputs and Outputs .................................................................................................... 55
Output Functions............................................................................................................... 55
Input Functions ................................................................................................................. 58
Thumbwheel Interface......................................................................................................... 63
PLC Interface.................................................................................................................... 65
Joystick Interface.......................................................................................................................... 65
-ANI 14-Bit Analog Input Option (6250-ANI Option Only) ........................................................................ 68
RP240 Front Panel Interface ............................................................................................................ 68
Operator Interface Features................................................................................................. 69
Using the Default Mode ....................................................................................................... 70
Host Computer Operation ................................................................................................................ 72
Variables (Binary, Numeric, and String) .............................................................................................. 73
RS-232C Daisy-Chaining ................................................................................................................. 76
Chapter 6: Advanced 6250 Features........................................................................ 79
S-Curve Profiling............................................................................................................................ 79
X-Y Linear Interpolation................................................................................................................... 81
Chapter 7: 6250 Programming Tips.......................................................................... 83
Creating Programs & Subroutines...................................................................................................... 83
Subroutines...................................................................................................................... 84
Stored Programs and Non-volatile Memory.............................................................................. 84
Automatic Program Execution .............................................................................................. 85
Controlling Execution of Programs and the Command Buffer................................................................... 85
Program Flow Control...................................................................................................................... 87
Unconditional Looping and Branching..................................................................................... 87
Conditional Looping and Branching........................................................................................ 89
Program Interrupts......................................................................................................................... 92
Program Debug Tools...................................................................................................................... 93
Trace Mode....................................................................................................................... 93
Single-Step Mode............................................................................................................... 94
Simulating Analog Input Channel Voltages .............................................................................. 95
Simulating I/O Activation..................................................................................................... 95
Programming Error Responses ............................................................................................. 97
Error Handling ............................................................................................................................... 98
Chapter 8: Hardware Reference ............................................................................. 101
General Specifications.................................................................................................................... 101
I/O Pin Outs & Circuit Drawings......................................................................................................... 102
Optional DIP Switch Settings............................................................................................................ 105
Chapter 9: Troubleshooting .................................................................................. 107
Troubleshooting............................................................................................................................. 107
Common Problems & Solutions ............................................................................................. 108
RS-232C Troubleshooting................................................................................................................ 109
Returning the System ..................................................................................................................... 110
Appendix A: Reducing Electrical Noise ..................................................................... 111
Appendix B: Alphabetical Command List.................................................................... 113
Appendix C: Index .............................................................................................. 117