User guide

➄ Basic 6250 Features 57
Example
The following example defines output 1 and output 2 as Programmable outputs and output 3
as a Moving/Not Moving output. Before the motor moves 4,000 steps, output 1 turns on and
output 2 turns off. These outputs remain in this state until the move is completed, then
output 1 turns off and output 2 turns on. While the motor is moving, output 3 remains on.
Command Description
>PS Pauses command execution until the 6250 receives a Continue
(!C) command
SCALEØ Disable scaling
MCØ Sets axis 1 to Normal mode
A1Ø Sets axis 1 acceleration to 10 rps
2
V5 Sets axis 1 velocity to 5 rps
D4ØØØ Sets axis 1 distance to 4,000 steps
OUTFEN1 Enable output functions
OUTFNC1-A Sets output 1 as a programmable output
OUTFNC2-A Sets output 2 as a programmable output
OUTFNC3-1B Sets output 3 as a axis 1 Moving/Not Moving output
OUT1Ø Turns output 1 on and output 2 off
GO1 Initiates axis 1 move
OUTØ1 Turns output 1 off and output 2 on
!C Initiates command execution to resume
Program in
Progress
(OUTFNCi-C)
When assigned the Program in Progress function, the output will activate when a program is
being executed. After the program is finished, the output's state is reversed.
Limit
Encountered
(OUTFNCi-<a>D)
When assigned the Limit Encountered function, the output will activate when a hard or soft
limit has been encountered.
If a hard or soft limit is encountered, you will not be able to move the motor in that same
direction until you clear the limit by changing direction (D) and issuing a GO command. (An
alternative is to disable the limits with the LHØ command, but this is recommended only if the
motor is not coupled to the load.)
Fault Output
(OUTFNCi-F)
When assigned the Fault Output function, the output will activate when either the user fault
input or the drive fault input becomes active. The user fault input is a general-purpose input
defined as a user fault input with the INFNCi-F command. The drive fault input is found on
the DRIVE connector, pin #5; make sure the drive fault active level (DRFLVL) is appropriate
for the drive you are using.
Maximum
Position Error
Exceeded
(OUTFNCi-<a>G)
When assigned the Max. Position Error Exceeded function, the output will activate when the
maximum allowable position error, as defined with the SMPER command, is exceeded.
The position error (TPER) is defined as the difference between the commanded position (TPC)
and the actual position as measured by the encoder (TPE). When the maximum position error
is exceeded (usually due to instability or loss of position feedback from the encoder), the 6250
shuts down the drive and sets error status bit #12 (reported by the TER command).
NOTE
If the SMPER command is set to zero (SMPERØ), the position error will not be monitored; thus,
the Maximum Position Error Exceeded function will not be usable.