User guide

68 6250 Servo Controller User Guide
No velocity when voltage is at 1.0V Set center voltage with JOYCTR1,1, command, or
set voltage level at both analog inputs to 1.0V and type
in JOYZ11
Joystick cannot reliably rest at 1.0V, but can rest
within ±0.1V of 1.0V
Set center deadband of 0.1V with JOYCDB.1,.1
command (0.1V is the system default)
Joystick can only produce maximum of 2.3V and
minimum of 0.2V
Set end deadband to get max. velocity at 2.3V or 0.2V
with the JOYEDB.2,.2 command.
Voltage range: CW = 1.1V to 2.3V (1.2V total)
CCW = 0.9V to 0.2V (0.7V total)
Voltage resolution: see below
The high-range velocity resolutions (at 5 rps max.) is calculated as follows:
CW:
5 rps
voltage range of 1.2V (122 counts)
= 0.041 rps/count; CCW:
5 rps
voltage range of 0.7V (72 counts)
= 0.069 rps/count
The low-range velocity resolutions (at 1 rps max.) is calculated as follows:
CW:
1 rps
voltage range of 1.2V (122 counts)
= 0.008 rps/count; CCW:
1 rps
voltage range of 0.7V (72 counts)
= 0.014 rps/count
2.5V
2.3V
1.1V
1.0V
0.9V
0.2V
0.0V
Center Deadband (JOYCDB.1,.1); Velocity = 0 rps
End Deadband (JOYEDB.2,.2); Velocity = 5 rps (high range) or 1 rps (low range)
End Deadband (JOYEDB.2,.2); Velocity = 5 rps (high range) or 1 rps (low range)
Binary 11111111
21 counts
Binary 11101000
Binary 01110000
Binary 01011100
Binary 00010100
Binary 00000000
122 counts
20 counts
72 counts
21 counts
Velocity
Increases
Velocity
Increases
CW Velocity
CCW Velocity
Analog
Voltage
Override
Before you actually wire the analog inputs, you can simulate their activation in software by
using the ANVO command. For instance, ANVO1.2,1.6,1.8 overrides the hardware analog
input channels—1.2V on channel 1, 1.6V on channel 2, and 1.8V on channel 3. The ANVO
values are used in any command or function that references the analog input channels, but only
those channels for which ANVOEN is set to 1 (e.g., Given ANVOENØ11, the ANVO values 1.6V
and 1.8V are referenced for analog channels 2 and 3 only.).
-ANI 14-Bit Analog Input Option (6250-ANI Option Only)
The 6250-ANI option offers two ±10V, 14-bit analog inputs (one ANI terminal found on each
of the DRIVE connectors). Each input has an anti-aliasing filter and is sampled at the servo
sample rate (set with the SSFR command). The value of the ANI inputs can be transferred to
the terminal with the TANI command, or used in an assignment or comparison operation with
the [ANI] command (e.g., IF(1ANI<2.4)).