User guide

60 6250 Servo Controller User Guide
Input 2 2
Input 3 4
Input 4 8
Input 5 10
Input 6 20
Input 7 40
Input 8 80
If inputs 6, 9, 10 and 13 are selected instead of inputs 5, 6, 7 and 8, then the weights would be
as follows:
Input #6 = 10
Input #9 = 20
Input #10 = 40
Input #13 = 80
Since 100 programs can be defined, a maximum of 9 inputs are required to select all possible
programs.
The program number is determined by the order in which the program was downloaded to the
6250. The program number can be obtained through the TDIR command..
If the inputs are configured as in the above table, program #6 will be executed by activating
inputs 2 and 3. Program #29 will be executed by activating inputs 1, 4, and 6.
To execute programs using the program select lines, enable the INSELP command. Once
enabled, the 6250 will continuously scan the input lines and execute the program selected by
the active program select lines. To disable scanning for program select inputs, enter
!INSELPØ or place INSELPØ in a program that can be selected.
Once enabled (INSELP1), the 6250 will run the program number that the active program
select inputs and their respective BCD weights represent. After executing and completing the
selected program, the 6250 will scan the inputs again. If a program is selected that has not
been defined, no program will be executed.
The INSELP command also determines how long the program select input must be maintained
before the 6250 executes the program. This delay is referred to as debounce time (but is not
affected by the INDEB setting). The following examples demonstrate how to select programs
via inputs.
Example
Command Definition
> RESET Return 6250 to power-up conditions
> ERASE Erase all programs
> DEF prog1 Begin definition of program prog1
- TPE Transfer position of encoder
- END End program
> DEF prog2 Begin definition of program prog2
- TREV Transfer software revision
- END End program
> DEF prog3 Begin definition of program prog3
- TSTAT Transfer statistics
- END End program
> INFNC1-B Input 1 is a BCD program select input
> INFNC2-B Input 2 is a BCD program select input
> INFEN1 Enable input functions
> INSELP1,5Ø Enable scanning of inputs
You can now execute programs by making a contact closure from an input to ground to
activate the input.
❏ Activate input 1 to execute program #1
❏ Activate input 2 to execute program #2
❏ Activate input 1 & 2 to execute program #3
Kill
(INFNCi-C)
An input defined as a Kill input will stop motion at the rate set with the hard limit (LHAD &
LHADA) commands. The program currently in progress will also be terminated, the
commands currently in the command buffer will be eliminated, and the drive will be left in the
enabled state (DRIVE1).