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6250 Servo Controller User Guide
System Hardware Block Diagram
Joystick Interface
Motor #1
Drive #1
Up to 2 Axes of control
RS-232C
Interface
6250
Computer
or
Dumb Terminal
Operating System
------------
Microprocessor
68000 - 12MHz
Battery-backed
RAM
for
user programs
- CW & CCW End-of-travel
- Home
Limits
Motion
Chip
Axis #1
Motion
Chip
Axis #2
Front Panel
Interface
Limit
Connections
- ±10V Analog Output
- Shutdown Output
- Drive Fault Input
- Enable Input
- 2 Positon Latch Inputs
- 24 Prog. Inputs
- 24 Prog. Outputs
- 2 Auxiliary Prog. Outputs
Drive Interface
I/O
RP240
Front Panel
Motor #2
Drive #2
Encoder
#1
Encoder
#2
I/O
Connections
Joystick
- Inc. Encoder Interface
- Position Latch
- Output on Position
Dual Port RAM
DSP
6250-ANI
Option
Optional ±10V,
14-bit Analog Input
6250 Features
❏ 1 to 2 axes of optically isolated —10V analog interface servo control
❏ Servo feedback from incremental encoders. Analog feedback available with the
6250-ANI option.
❏ Controls servo drives in the velocity or torque mode
❏ Fast digital signal processor (DSP) for sophisticated servo control (digital
Proportional, Integral, and Velocity feedback, plus acceleration and velocity
Feedforward—PIV&F)
❏ S-curve motion profiling
❏ Motion Architect
®
is standard
❏ Teach Mode
❏ Windows™-based visual data gathering and tuning aide available when using
the Motion Architect
®
Servo Tuner option
❏ DOS Support Disk provided
❏ 40,000 bytes of non-volatile memory for storing programs & paths
❏ Capability to interrupt program execution on error conditions
❏ 2-axis linear interpolation standard
❏ Variable storage, conditional branching, and math capability
❏ Program debug tools — single-step and trace modes, breakpoints, and
simulation of I/O
❏ Internal power supply
❏ Direct interface to RP240 Front Panel
❏ Operates stand-alone or interfaces to PCs & PLCs
❏ 3-wire, RS-232C interface to PC or dumb terminal
❏ 1.2 MHz pre-quadrature encoder feedback pulse frequency
❏ I/O capabilities (all I/O are isolated):
• ±10V analog control output (both axes )
• Shutdown output (both axes)
• Drive Fault input (both axes)
• Incremental encoder input (both axes)
• CW & CCW end-of-travel limit inputs (both axes)
• Home limit input (both axes)
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1
DRIVE 2 ENCODER 2
+5V
A+
A-
B+
B-
Z+
Z-
GND
SHLD
AUX
ENCODER 1
+5V
A+
A-
B+
B-
Z+
Z-
GND
SHLD
2-AXIS SERVO
CONTROLLER
STATUS
Compumotor
Rx
Tx
GND
SHLD
+5V
OUT-P
IN-P
RP240
POWER
6250
P
R
O
G
R
A
M
M
A
B
L
E
I
N
P
U
T
S
P
R
O
G
R
A
M
M
A
B
L
E
O
U
T
P
U
T
S
J
O
Y
S
T
I
C
K
+5V
GND
Rx
Tx
SHLD
EARTH N/A
NEUT LINE
GRN
RED
: READY
: RESET
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
LIM 1/2
DRIVE1 OFF
DRIVE2 OFF
TRG-A
TRG-B
GND
OUT-A
OUT-B
GND
ENBL
6250 Front Panel
• 3 8-bit analog inputs for joystick control and variable input
• 2 (trigger) inputs — use for hardware position latch (±1 count accuracy)
• 24 programmable inputs (Opto-22™ compatible)
• 24 programmable outputs (Opto-22™ compatible)
• 2 auxiliary programmable outputs that can be configured for accurate output on position within ±1 count
❏ 6250-ANI Option offers two ±10V, 14-bit analog inputs (one per axis) with anti-aliasing filter.
- 6250 Servo Controller 1
- User Guide 1
- Important User Information 2
- Revision B Change Summary 3
- 6250 User Guide 4
- TABLE OF CONTENTS 5
- O V E R V I E W 7
- Installation Process Overview 8
- Conventions 8
- Related Publications 8
- Introduction 9
- 6250 Features 10
- Getting Started 11
- Bench Test 12
- ➁ Connect Power Cable 13
- ➂ Test Procedure 13
- Installation 14
- ➀ Mount the 6250 15
- ➁ System Connections 15
- Motor Driver Connections 16
- User I/O Connector 17
- Home Limit Connections 20
- Encoder Connections 21
- Enable Input Connection 22
- Trigger Input Connections 23
- Application 25
- ➂ Installation Verification 26
- (left to right) 27
- (output voltage): 27
- (encoder counts): 27
- (motor counts): 27
- (commanded pos.): 27
- ➃ What's Next? 28
- Servo Tuning 30
- Position Variable Terminology 31
- Servo Response Terminology 32
- 6000 Series Servo Commands 34
- Servo Control Techniques 35
- Tuning Setup Procedure 38
- Controller Tuning Procedure 41
- Before you tune the 6250: 42
- Tuning Scenario 47
- Target Zone Mode 50
- Basic 6250 Features 51
- Support Software 52
- 6250 Safety Features 53
- Velocity Scaling (SCLV/PSCLV) 54
- Distance Scaling (SCLD) 55
- Scaling Example 55
- End-of-Travel Limits 56
- Positioning Modes 59
- Dithering Hydraulic Valves 62
- User Interface Options 62
- Host Computer 63
- Operation 63
- Output Functions 64
- Input Functions 66
- Input Debounce 67
- No Function 67
- BCD Program 67
- Pause/Continue 69
- User Fault 69
- Position Latch 69
- Jogging the 70
- Thumbwheel Interface 71
- TM8 Thumbwheel Module 72
- Joystick Interface 74
- RP240 Front Panel Interface 77
- Using the Default Mode 79
- is the default menu 80
- Host Computer Operation 81
- Variables 82
- Trigonometric 83
- Operations 83
- Teach Mode 84
- Teach Mode Basics 85
- AUX connector, not 90
- the RP240 connector 90
- Daisy-Chaining and RP240s 93
- Advanced 6250 Features 94
- S-Curve 95
- Pure S-Curve 95
- X-Y Linear Interpolation 96
- 6250 Programming Tips 98
- Subroutines 99
- Program Security 100
- Automatic Program Execution 100
- Target Zone 101
- On The Fly 101
- Continuous Mode 101
- Program Flow Control 102
- Flow Control 104
- Expression 104
- Examples 104
- Conditional 106
- Program Interrupts 107
- Program Debug Tools 108
- Single-Step Mode 109
- Simulating I/O Activation 110
- Error Handling 112
- Enabling Error Checking 113
- Defining the Error Program 113
- Error Program Set-up Example 114
- Test the error handling 115
- Hardware Reference 116
- Drive Connectors 117
- Programmable I/O Connectors 118
- Auxiliary (AUX) Connector 119
- Limits (LIM1/2) Connector 119
- Joystick Connector 119
- Optional DIP Switch Settings 120
- 6250 PCA 121
- Troubleshooting 122
- Reducing Electrical Noise 123
- RS-232C Troubleshooting 124
- Returning the System 125
- AC or DC 126
- AC or DC Inductive 126
- Defeating Noise 127
- References 127
- [ SQRT( ) ] Square Root 129
- Appendix C: Index 132
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