User guide

56 6250 Servo Controller User Guide
Output Functions
You can turn the 6250's 26 programmable outputs on and off with the Output (OUT or
OUTALL) commands, or you can use the Output Function (OUTFNC) command to configure
them to activate based on seven different situations.
The output functions are assigned with the OUTFNCi-<a>c command. The "i" represents the
number of the output (the 24 general purpose outputs are outputs 1 through 24, and OUT-A and
OUT-B are outputs 25 and 26). The "<a>" represents the number of the axis and is optional for
the B, D, and G functions (see list below); when no axis specifier is given, the output will be
activated when the condition occurs on either axis. The "c" represents the letter designator of the
function (A, B, C, D, F, G or H). For example, the OUTFNC5-2D command configures output
#5 to activate when axis #2 encounters a hard or soft limit.
NOTE
To activate the function of an output with the OUTFNC command, you must enable the output
functions with the OUTFEN1 command.
A: Programmable Output (default function) E: <Not Used>
B: Moving/Not Moving F: Fault Output (indicates drive or user fault)
C: Program in Progress G: Max. Allowable Position Error Exceeded
D: Soft or Hard Limit Encountered H: Output on Position
Output Status
As shown below, you can use the OUTFNC command to determine the current function and
state (on or off) of one or all the outputs. The TOUT command also reports the outputs' state,
but in a binary format in which the left-most bit represents output #1 and the right-most bit
represents output #26.
Command Description
> OUTFNC Query status of all outputs; response indicating default
conditions is:
*OUTFNC1-A NO FUNCTION OUTPUT - STATUS OFF
*OUTFNC2-A NO FUNCTION OUTPUT - STATUS OFF
(response continues until all 26 outputs are reported)
> OUTFNC1 Query status of output #1; response indicating default
conditions is:
*OUTFNC1-A NO FUNCTION OUTPUT - STATUS OFF
> OUTFNC1-C Change output #1 to function as a
Program in Progress output
> OUTFNC1 Query status of output #1; response should be now be:
*OUTFNC1-C PROGRAM IN PROGRESS - STATUS OFF
> TOUT Query binary status report of all outputs; response indicating
default conditions is:
*TOUTØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØØØ_ØØ
Programmable
Output
(OUTFNCi-A)
The default function for the outputs is Programmable. As such, the output is used as a
standard output, turning it on or off with the OUT or OUTALL commands to affect processes
external to the 6250. To view the state of the outputs, use the TOUT command. To use the
state of the outputs as a basis for conditional branching or looping statements (IF, REPEAT,
WHILE, etc.), use the [ OUT ] command (refer to the Conditional Looping and Branching
section in Chapter 7 for details).
Moving/
Not Moving
(OUTFNCi-<a>B)
When assigned the Moving/Not Moving function, the output will activate when the axis is
moving. As soon as the move is completed, the output will change to the opposite state.
If the target zone mode is enabled (STRGTE1), the output will not change state until the move
completion criteria set with the STRGTD and STRGTV commands has been met. (Refer to the
Target Zone section in Chapter 4 for more details on the target zone mode.)