User guide

84 6250 Servo Controller User Guide
Step ➃
After all programming is completed program execution may be controlled by either a master
terminal (diagram above), or by a master 6250 (diagram above).
Daisy-Chaining from a Computer or Terminal
Controlling the daisy-chain from a master computer or terminal follows the examples above:
Command Description
Ø_RUN main Run program main on unit #0
1_RUN main Run program main on unit #1
2_GO1 Start motion on unit #2 axis #1
3_2A Get A command response from unit #3 axis #2
Daisy-Chaining from a Master 6250
Controlling the daisy-chain from a master 6250 (the first unit on the daisy-chain) requires
stored programs in the master 6250 which can control program and command execution on the
slave 6250s. The example below demonstrates the use of the WRITE command to send
commands to other units on the daisy-chain.
NOTE
The last unit on the daisy-chain must have RS-232C echo disabled (ECHOØ command).
Master 6250's main program:
Command Description
DEF main Program main
L Indefinite loop
WHILE (IN.1 = bØ) Wait for input #1 to go active
NWHILE
GOL Initiate linear interpolated move
WHILE (IN.1 = b1) Wait for input #1 to go inactive
NWHILE
WRITE"2_D2ØØØ,4ØØØ" Send message "2_D2ØØØ,4ØØØ" down the daisy chain
WRITE"2_ACK" Send message "2_ACK" down the daisy chain
LN End of loop
END End of program main
6250 unit #2 ack program:
Command Description
DEF ack Program ack
GO11 Start motion on both axes
END End of program ack