User guide
➄
Basic 6250 Features
83
Step
➁
Connect the daisy-chain with a terminal as the master (see diagram above).
It is necessary to have the error level set to 1 for all units on the daisy-chain (ERRLVL1).
When the error level is not set to 1, the 6250 sends ERROK or ERRBAD prompts after each
command, which makes daisy-chaining impossible. Send the ERRLVL1 command from the
master terminal as many times as there are units on the chain:
Command Description
ERRLVL1 Set error level to 1
After this has been accomplished a carriage return sent from the terminal will not cause any
6250 to send a prompt. Verify this. Instructions below show how to set the error level to 1
automatically on power-up by using the 6250's power-up start program (highly recommended).
After the error level for all units has been set to ERRLVL1, send a 6000 series command to all
units on the daisy-chain by entering that command from the master terminal.
Command Description
OUT1111 Turn on outputs #1 - #4 on all units
A5Ø,5Ø Set acceleration to 50 rps
2
for all axes (all units, both
axes)
To send a 6000 series command to one particular unit on the daisy-chain, prefix the command
with the appropriate unit's device address and an underline:
Command Description
2_OUT1 Turn on output #1 on unit #2
4_OUTØ Turn off output #1 on unit #4
To receive data from a 6250, you must prefix the command with the appropriate unit's device
address and an underline:
Command Description
1_A Request acceleration information from unit #1
*A5Ø,5Ø Response from unit #1
Use the (E) command to enable/disable RS-232C communications for an individual unit. If
all 6250 units on the daisy chain are enabled, commands without a device address identifier
will be executed by all units. Because of the daisy-chain's serial nature, the commands will be
executed approximately 1 ms per character later on each successive unit in the chain (assuming
9600 baud).
Command Description
3_EØ Disable RS-232C on unit #3
VAR1=1 Set variable #1 to 1 on all other units
3_E1 Enable RS-232C on unit #3
3_VAR1=5 Set variable #1 to 5 on unit #3
Verify communication to all units by using the techniques described above.
Step
➂
Now that communication is established programming of the units can begin (alternately, units
can be programmed individually by connecting the master terminal to one unit at a time). To
allow daisy-chaining between multiple 6250s, the ERRLVL1 command must be used to
prevent units from sending error messages and command prompts. In every daisy-chained unit
the ERRLVL1 command should be placed in the program that is defined as the STARTP
program:
Command Description
DEF chain Begin definition of program chain
ERRLVL1 Set error level to 1
GOTO main Go to program main
END End definition of program chain
STARTP chain Designates program chain as the power-up program
To define program main for unit #0:
Command Description
Ø_DEF main Begin definition of program main on unit #0
Ø_GO Start motion
Ø_END End definition of program main on unit #0