Calculated Industries 6250 Guide de l'utilisateur Page 1

Compumotor DivisionParker Hannifin Corporationp/n 88-013413-01B October 18, 19936250 Servo ControllerUser Guide

26250 Servo Controller User GuideSystem Hardware Block DiagramJoystick InterfaceMotor #1Drive #1Up to 2 Axes of controlRS-232CInterface6250ComputerorD

11/25/96➆ 6270 Programming Tips85TranslationModeIf you need to determine the memory required for each command, you can use the TranslationMode.While

866250 Servo Controller User Guide☞COMEXC Mode allowsfaster execution ofsubsequent movesThe COMEXC mode allows the 6250 to pre-process the next move w

11/25/96➆ 6270 Programming Tips87COMEXS1: Upon receiving a stop input or stop command, motion will decelerate at the presetAD/ADA value, program exec

886250 Servo Controller User GuideUnconditionalBranchingThere are three ways to branch unconditionally:❏ GOSUB: The GOSUB command branches to the pro

11/25/96➆ 6270 Programming Tips89Conditional looping (REPEAT/UNTIL and WHILE/NWHILE) entails repeating a set ofcommands until or while a certain cond

906250 Servo Controller User GuideCurrentCommanded &Actual PositionThe current commanded and actual positions (ANI, DAC, FB, PC, PCA, PCC, PCE, PE

11/25/96➆ 6270 Programming Tips91Example DescriptionDCLEARØ Clear RP240 displayDWRITE"HIT F4" Send message to RP240 displayVAR3=DREADF Wait

926250 Servo Controller User GuideWHILE All commands between WHILE and NWHILE are repeated as long as the WHILE condition istrue. The following examp

11/25/96➆ 6270 Programming Tips93The ON condition program must be defined (DEF) and specified (ONP) before enabling the ONconditions with the ONCOND

946250 Servo Controller User GuideStep ➃You will now execute program prog1. The commands will be displayed as each command inthe program is executed.

➁ Getting Started3C H A P T E R ➁Getting StartedThe information in this chapter will enable you to:❏ Verify that each component of your 6250 sys

11/25/96➆ 6270 Programming Tips95Step ➃To execute more than one command at a time, follow the !# sign with the number ofcommands you want executed:Co

966250 Servo Controller User GuideDisplay the function of the outputs with the OUTFNC command:Command Description> OUTFNC Displays the state of the

11/25/96➆ 6270 Programming Tips97Step ➁Enable the Trace mode so that you can view the program as it is executed:Command Description> TRACE1 Enable

986250 Servo Controller User GuideThe 6270 has the ability to detect and recover the following error conditions:❏ Hardware end-of-travel limit encount

11/25/96➆ 6270 Programming Tips99In addition to canceling the branch to the error program, you must also remedy the cause ofthe error; otherwise, the

1006250 Servo Controller User GuideStep 3Enable the user fault error-checking bit by putting a 1 in the seventh bit of the ERRORcommand. After enabli

➇ Hardware Reference101C H A P T E R ➇Hardware ReferenceUse this chapter as a quick-reference tool for 6250 system specifications (general spec

1026250 Servo Controller User GuideOutputs (see also I/O Pin Outs & Circuit Drawings)26 Programmable(includes OUT-A and OUT-B on AUX connector)Com

➇ Hardware Reference103Encoder Connectors (For Use With Incremental Encoders Only)The following table lists the pin outs for the 6250's two 9-pi

1046250 Servo Controller User GuideAuxiliary (AUX) ConnectorPin outs for the 6250's auxiliary (AUX) 14-pin screw terminal are listed below.Pin In

46250 Servo Controller User GuideBench TestThis section leads you through step-by-step instructions to bench test your 6250 system.This is a temporary

➇ Hardware Reference105Internal Input CircuitISO GND74HCTxx6.8 KΩ47 KΩInputConnectionGroundConnection+5VDC150 KΩ49.9 KΩ0.1 µF10.0 KΩ35 V35 V25-PinJOY

1066250 Servo Controller User Guide1.2.3.4.5.6.7.NO1234DIP SwitchFactory Default Setting ShownOFF OFF OFF Ø (default)OFF OFF ON 1OFF ON OFF 2OFF ON ON

➈ Troubleshooting107C H A P T E R ➈TroubleshootingThe information in this chapter will enable you to isolate and resolve system hardware andsof

1086250 Servo Controller User GuideReducing Electrical NoiseFor detailed information on reducing electrical noise, refer to Appendix A.Common Problems

➈ Troubleshooting109Problems, Causes & Solutions (cont.)Program execution: thefirst time a program is run,the move distances areincorrect. Upon

1106250 Servo Controller User GuideReturning the SystemIf you must return your 6250 system to affect repairs or upgrades, use the following steps:➀ Ge

Appendix A: Reducing Electrical Noise111Appendix A: Reducing Electrical NoiseNoise-related difficulties can range in severity from minorpositioning

1126250 Servo Controller User Guidecontrol computer is using RS-232C communication.Symptoms like garbled transmissions and intermittentoperation are t

Appendix B: Alphabetical Command List113Appendix B: Alphabetical Command ListCommand Command Command CommandName Description Name Description[ <

1146250 Servo Controller User GuideCommand CommandName DescriptionIF( ) If Statement[ IN ] Input StatusINDAX Participating AxesINDEB Input Debounce Ti

➁ Getting Started5➁ Connect Power CableThe 6250 is shipped with an 8-foot power cable that is prewired and keyed. Attach the powercable to the 6250&a

Appendix B: Alphabetical Command List115Command CommandName DescriptionSTARTP Set Power-up ProgramSTEP Program Step Mode EnableSTRGTD Servo Target Zo

Appendix C: Index117Appendix C: Index6000 DOS Support Disk 20, 446000 Series Command Language 436000 Series Software Reference Guide iv, 436250 desc

1186250 Servo Controller User GuideFfactory defaultsconnections 3DIP switches 105fault output 57feedback data 21full duplex 4Ggains (see also tuning)d

Appendix C: Index119pre-wired connections 3precautionsinstallation 7mounting 8preset (normal) mode 52PROCOMM™ 4programmable inputs and outputs 54-65

Appendix C: Calculating Your Own Gains121Appendix C: Calculating Your Own Gain ValuesThis appendix explains how to calculate the 6250's servo s

1226250 Servo Controller User Guidemost controls textbooks. The second-order system is ofthe form:H(S) = ωn2S2 + 2ξωnS + ωn2Where, ξ = damping rati

Appendix C: Calculating Your Own Gains123The PIV tuning transfer function is a third-order system witha single zero. We want to fit the classical se

➂ Installation7C H A P T E R ➂InstallationThe information in this chapter will enable you to:❏ Mount all system components properly❏ Connect all

86250 Servo Controller User GuideAirborne ContaminantsContaminants that may come in contact with the 6250 should be carefully controlled.Particulate c

➂ Installation9This section describes procedures for the following 6250 system connections:❏ Motor Drivers❏ End-of-travel and home limits❏ Encoders❏ A

106250 Servo Controller User Guide<<WARNING>> SAFETY FIRST <<WARNING>>If your drive does not have a shutdown input, install a

➂ Installation11SHLDCOMSHTNCSHTNODFTAGNDANICMD-CMD+DRIVE 1 ENCODER 1+5VA+A-B+B-Z+Z-GNDSHLDDynaserv DriveDN1(50-pin Honda Connector)1181933506250Dynase

126250 Servo Controller User Guide625018V AC0V18V AC+15V0V–15V0VRESETREADYPSU FAULTUD12 Drive(UR4 Rack)G1G2VEL2VEL1SCREEN0VFAULTEXT.DISLSW1LSW2SHLDCOM

To ensure that the equipment described in this user guide, as well as all the equipment connected to and used with it, operates satisfactorily and

➂ Installation13End-of-Travel Limit ConnectionsThe 6250 provides CCW and CW end-of-travel limit inputs for both axes via the LIM 1/2connector. End-of

146250 Servo Controller User GuideEncoder ConnectionsThe 6250 supports up to two incremental encoders. If you use encoders other than thosesupplied b

➂ Installation15Enable Input ConnectionThe ENBL (enable) input is located on the AUX connector. The 6250 is shipped with ENBLwired to GND (see drawin

166250 Servo Controller User Guide27 Input #11 01 Input #24 (MSB) 27 Output #11 01 Output #24 (MSB)25 Input #12 25 Output #12NOTE: All even-numbered

➂ Installation17RP240 Front Panel Connections (RP240 is optional)Using a four-wire shielded cable, connect the RP240 to the 6250's RP240 connecto

186250 Servo Controller User GuideAnalog InputsYou can use the analog inputs for joystick control of the axes. An analog input can commandan axis vel

➂ Installation19Extending 6250 System CablesThis section describes options for extending 6250 system drive, encoder, and I/O cables. Ifyou wish to or

206250 Servo Controller User GuideNOTEThe following table is based on the assumption that you have not changed the active levels of the6250's inp

➂ Installation21Installation Verification (cont.)RP240➀ Cycle power to the 6250.➁ If the RP240 is connected properly, the RP240's status LED shou

226250 Servo Controller User GuideIf the encoder is mounted directly to the motor, then to ensure that the motor will moveaccording to the programmed

6250 Servo Controller User GuideRevision B Change SummaryThe following is a summary of the primary technical changes to this user guide since the last

➃ Servo Tuning21C H A P T E R ➃Servo TuningIn a Hurry?We strongly recommend tuning the 6250 before attempting to execute any motion functions.If

226250 Servo Controller User GuideWhen all gains are set to zero, the digital control algorithm is essentially disabled and thesystem becomes an open

➃ Servo Tuning23SetpointDistance( D )AccelerationConstantVelocityDecelerationProfileCompletePositionTimeCommandedPositionActual PositionThe other type

246250 Servo Controller User GuidePositionResponse TypesThe following table lists, describes, and illustrates the six basic types of position response

➃ Servo Tuning256000 Series Servo CommandsNOTEThe following list contains a brief description of each servo-related 6000 Series command.More detailed

266250 Servo Controller User GuideServo Control TechniquesTo ensure that you are tuning your servo system properly, you should understand the tuningte

➃ Servo Tuning27Integral Feedback Control (SGI)Using integral feedback control, the value of the control signal is integrated at a rateproportional to

286250 Servo Controller User GuideWhen velocity feedback control is used, the control signal is proportional to the encoder'svelocity (rate of ch

➃ Servo Tuning29Same as velocity feedforward control, this control action can improve the performance of linearinterpolation applications. In additio

306250 Servo Controller User GuideStep 6Observe the 6250's analog output noise level on the oscilloscope. The ideal noise levelshould be below 3

6250 User Guide Change Summary (continued)Programming:Troubleshooting problemsClarification: In Chapter 7, three resolutions were added to resolve th

➃ Servo Tuning31Drive Tuning Procedure (Velocity Drives Only)The Drive Tuning Procedure leads you through the following steps:➀ Launch and set up Moti

326250 Servo Controller User GuideStep 3 Tune the drive (iteratively) to achieve the desired response:a. In the Data Acquisition display, select the S

➃ Servo Tuning33Before you tune the 6250:Be sure to complete the Tuning Setup Procedure (and the Drive Tuning Procedure, if you areusing a velocity dr

346250 Servo Controller User Guide# of Axes SSFR Servo Sampling Motion Trajectory UpdateActive(INDAX)CommandSettingFrequency(samples/sec.)Period(µsec)

➃ Servo Tuning35Step 4 Optimize the Proportional (SGP) and Velocity (SGV) gains (see illustration for tuning process):If you are not using Motion Arch

366250 Servo Controller User GuideSTARTORIncrease SGPUNTILORDecrease SGVUNTILIncrease SGVUNTILORORDecrease SGVUNTILSTOPORDecrease SGPUNTILORDecrease S

➃ Servo Tuning37Step 5 Use the Integral Feedback Gain (SGI) to reduce steady state error:☞Steady state positionerror is describedearlier in thePerform

386250 Servo Controller User Guided. In the Data Acquisition display, select the Start button to trigger the move andgather data.e. Note the plot in t

➃ Servo Tuning39Step 2With SGP equal to 15, the response becameslightly underdamped (see plot).Therefore, we should introduce the velocityfeedback gai

406250 Servo Controller User GuideStep 8After raising the SGV gain to 2.4, overshootreduced a little, but chattering reappeared.This meant the gains w

TABLE OF CONTENTSOverview... iiiAssumptions..

➃ Servo Tuning41Target Zone ModeTo prevent premature command execution before the actual position settles into thecommanded position, use the Target Z

➄ Basic 6250 Features43C H A P T E R ➄Basic 6250 FeaturesThe information in this chapter will enable you to understand and implement the 6250&a

446250 Servo Controller User GuideCompumotor Bulletin Board ServiceCompumotor offers an electronic bulletin board service (BBS)—free of charge. The B

➄ Basic 6250 Features456250 Safety FeaturesTo help ensure a safe operating environment, you should take advantage of the 6250's safetyfeatures (

466250 Servo Controller User GuideScalingThe scaling commands allow you to scale acceleration, deceleration, velocity, and position tovalues that are

➄ Basic 6250 Features47As the velocity scaling factor (SCLV/PSCLV) changes, the velocity command's range and itsdecimal places also change (see

486250 Servo Controller User GuideEnd-of-Travel LimitsThe 6250 can respond to both hardware and software end-of-travel limits. The 6250 is shippedfro

➄ Basic 6250 Features49Enabling backup to home (HOMBAC) allows you to use two other homing features, HOMEDGand HOMDF. The HOMEDG command allows you

506250 Servo Controller User GuideFigures D through F show the homing operation for different values of HOMDF and HOMEDG,when HOMBAC is enabled.CCW Ed

➄ Basic 6250 Features51Z ChannelActive RegionCCW Edgeof HomeHome ActiveRegionCW Edgeof HomeVelocityCCWLimitInitialPositionCWLimitPositionFigure K. H

ii6250 Servo Controller User GuideChapter 5: Basic 6250 Features... 43Befor

526250 Servo Controller User GuideIncrementalMode MovesThe incremental mode is the 6250's default power-up mode. When using the incrementalmode

➄ Basic 6250 Features53Continuous ModeThe Continuous Mode (MC) is useful in the following situations:❏ Applications that require constant movement of

546250 Servo Controller User GuideDithering Hydraulic ValvesDither is a square-wave signal added to the control output and is used to keep the hydraul

➄ Basic 6250 Features55Stand-alone:Programmable I/O andThumbwheel/TM8 interfaceRP240 front panelinterfaceJoystick interface14-bit analog interface(62

566250 Servo Controller User GuideOutput FunctionsYou can turn the 6250's 26 programmable outputs on and off with the Output (OUT orOUTALL) comma

➄ Basic 6250 Features57ExampleThe following example defines output 1 and output 2 as Programmable outputs and output 3as a Moving/Not Moving output.

586250 Servo Controller User GuideOutput onPosition(OUTFNCi-H)The Output on Position function for axis 1 (OUTFNC25-H) can be assigned only to output#2

➄ Basic 6250 Features59ExampleCommand Description> INFNC Query status of all inputs; response indicating default conditions is:*INFNC1-A NO FUNCTI

606250 Servo Controller User GuideInput 2 2Input 3 4Input 4 8Input 5 10Input 6 20Input 7 40Input 8 80If inputs 6, 9, 10 and 13 are selected instead of

➄ Basic 6250 Features61Disabling the Driveon a KillIf your application requires you to disable (shut down or de-energize) the drive in a Kill situati

OverviewiiiO V E R V I E WThis user guide is designed to help you install, develop, and maintain your system. Thissection is intended to help

626250 Servo Controller User Guide☞You can change theinput debounce timewith the INDEBcommand.Each position latch input has a 25-ms debounce time. Th

➄ Basic 6250 Features63One-to-OneProgram Select(INFNCi-aP)Inputs can be defined as One-to-One Program Select inputs (INFNCi-aP). This allowsprograms

646250 Servo Controller User GuideYou can connect the 6250's programmable I/O to a bank of thumbwheel switches to allow operatorselection of moti

➄ Basic 6250 Features65Using your ownThumbwheelModuleAs an alternative to Compumotor's TM8 Module, you can use your own thumbwheels. The 6250&a

666250 Servo Controller User GuidePLC InterfaceThe 6250's optically-isolated programmable I/O may be connected to most PLCs with discreteinputs a

➄ Basic 6250 Features67To establish the velocity resolution, you must define the full-scale velocity and the usablevoltage.Define Full-ScaleVelocityY

686250 Servo Controller User GuideNo velocity when voltage is at 1.0V Set center voltage with JOYCTR1,1, command, orset voltage level at both analog i

➄ Basic 6250 Features69ProgrammingExampleThe following programming example will read the analog inputs into the 6250 and set thecommanded analog outp

706250 Servo Controller User GuideThe RP240 is used as the 6250's operator interface, not a program entry terminal. As anoperator interface, the

➄ Basic 6250 Features71Using the Default ModeIn addition to the 6250/RP240 operator interface features, there are some other built-in featuresthat ar

iv6250 Servo Controller User GuideInstallation Process Overview➀ Review this entire user guide. Become familiar with the user guide's contents s

726250 Servo Controller User Guide COMPUMOTOR 6250 SERVO CONTROLLER RUN JOG STATUS DRIVE DISPLAY ETCDefault menu (first half): This is the d

➄ Basic 6250 Features73 COMPUMOTOR 6250 SERVO CONTROLLERACCESS RUNAccess menu: If you press the GO-BACK function key at the default menu (second

746250 Servo Controller User GuideVariablesThe 6250 has 3 types of variables (numeric, binary, and string). There are 150 numericvariables, numbered

➄ Basic 6250 Features75Subtraction (-) Example Response> VAR3=2Ø-1Ø> VAR2Ø=15.5> VAR3=VAR3-VAR2Ø : VAR3 *VAR3=-5.5Multiplication (*)Example

766250 Servo Controller User GuideInverse Tangent(Arc Tangent)Example Response> RADIANØ> VAR1=SQRT(2)> VAR1=ATAN(VAR1/2) : VAR1 *VAR1=+35.26&

➄ Basic 6250 Features77The Teach Mode is simply a method of storing (teaching) variable data and later using thestored data as a source for motion pr

786250 Servo Controller User GuideTeach the Datato the DataProgramThe data that you wish to write to the data elements in the data program must first

➄ Basic 6250 Features79Summary of Related 6000 Series CommandsNOTE: A detailed description of each command is provided later.DATSIZ ... Establis

806250 Servo Controller User GuideStep 1Initialize a Data Program.> DEL DATP1 Delete data program #1 (DATP1) in preparation for creating a newdata

➄ Basic 6250 Features81Step 4Define the DOPATH Subroutine.> DEF DOPATH Begin definition of the subroutine called DOPATH- HOM11 Move both axes to t

➀ Introduction1C H A P T E R ➀IntroductionThis chapter describes the 6250's basic functions & features.6250 DescriptionThe Compumotor 6

826250 Servo Controller User GuideRS-232C Daisy-ChainingUp to eight 6250s may be daisy-chained. There are two methods of daisy-chaining: one usesa c

➄ Basic 6250 Features83Step ➁Connect the daisy-chain with a terminal as the master (see diagram above).It is necessary to have the error level set to

846250 Servo Controller User GuideStep ➃After all programming is completed program execution may be controlled by either a masterterminal (diagram abo

➄ Basic 6250 Features85Daisy-Chaining and RP240sRP240s cannot be placed in the 6250 daisy chain; RP240s can only be connected to thedesignated RP240

➅ Advanced 6250 Features79 C H A P T E R ➅Advanced 6250 FeaturesThe information in this chapter will enable you to understand andimplement the

806250 Servo Controller User GuideMaximum Accel/Decel Commands:Command FunctionAverage (S-Curve) Accel/Decel Commands:Command FunctionA Acceleration A

➅ Advanced 6250 Features81❏ If you increase the Aavg value above the pure S-curve level (Aavg > 1/2 Amax), the time requiredto reach the target ve

826250 Servo Controller User GuideExampleCommand Description> SCALE1 Enable scaling> PSCLA25ØØØ Set path acceleration scale factor to 25000 step

11/25/96➆ 6270 Programming Tips83C H A P T E R ➆6250 Programming TipsThe information in this chapter will enable you to understand how to use t

846250 Servo Controller User GuideCommand Description> MAØ Places axis 1 in the incremental mode> MCØ Places axis 1 in the preset mode> LHØ D