User guide

52 6250 Servo Controller User Guide
Incremental
Mode Moves
The incremental mode is the 6250's default power-up mode. When using the incremental
mode (MAØ), a preset move moves the shaft of the motor the specified distance from its
starting position. For example, to move the motor shaft 1.5 revolutions, a preset move with
a distance of +6,000 steps (1.5 revs @ 4,000 steps/rev) would be specified. Every time the
6250 executes this move, the motor moves 1.5 revs from its resting position. You can
specify the direction of the move by using the optional sign (D+6ØØØ or D-6ØØØ).
Whenever you do not specify the direction (e.g., D6ØØØ), the unit defaults to the positive
(CW) direction.
Example
Command Description
> SCALEØ Disable scaling
> ERES4ØØØ Set axis 1 encoder resolution
> MAØ Sets axis 1 to Incremental Position Mode
>A2 Sets axis 1 acceleration to 2 rps
2
>V5 Sets axis 1 velocity to 5 rps
> D4ØØØ Sets axis 1 distance to 4,000 CW steps
> GO1 Initiate motion on axis 1 (motor moves 1 rev in CW direction)
> GO1 Repeats the move
> D-8ØØØ Sets axis 1 distance to 8,000 CCW steps (return to original position)
> GO1 Initiate motion on axis 1 (motor moves 2 revs in CCW direction and
ends at its original starting position)
Absolute Preset
Mode Moves
A preset move in the Absolute Mode (MA1) moves the motor the distance that you specify
from the absolute zero position. You can set the absolute position to any value with the Set
Position (PSET) command. When the Go Home (HOM) command is issued, the absolute
position is automatically set to zero after the motor reaches the home position.
The direction of an absolute preset move depends upon the motor position at the beginning of
the move and the position you command it to move to. For example, if the motor is at
absolute position +12,500, and you instruct the motor to move to position +5,000, the motor
will move in the negative (CCW) direction a distance of 7,500 steps to reach the absolute
position of +5,000.
The 6250 retains the absolute position, even while the unit is in the incremental mode. You
can use the Absolute Position Report (TPE) command to read the absolute position.
Example
Command Description
> SCALEØ Disable scaling
> ERES4ØØØ Set axis 1 encoder resolution
> MA1 Sets the 6250 to the absolute positioning mode
> PSETØ Sets axis 1 current absolute position to zero
> A5 Sets axis 1 acceleration to 5 rps
2
> V3 Sets axis 1 velocity to 3 rps
> D4ØØØ Sets axis 1 move to absolute position 4,000
> GO1 Initiates axis 1 move (motor moves to absolute position 4,000)
> D8ØØØ Sets axis 1 move to absolute position 8,000.
> GO1 Initiates axis 1 move (Since the motor was already at position
4,000, it moves 4,000 additional steps in the CW direction.)
>DØ Sets axis 1 move to absolute position zero.
> GO1 Initiates axis 1 move (Since the motor is at absolute position
8,000, the motor moves 8,000 steps in the CCW direction.)