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102
6250 Servo Controller User Guide
Outputs (see also
I/O Pin Outs & Circuit Drawings
)
26 Programmable
(includes OUT-A and OUT-B on AUX connector)
Command Out (CMD)
Shutdown (SHTNO, SHTNC, and COM)
Optically isolated, TTL-compatible*, open collector output. Can be pulled
up by connecting OUT-P to +5V on the AUX connector, or to a user-
supplied voltage of up to 24V. Max. voltage in OFF state (not sinking
current) = 24V, max. current in ON state (sinking) = 30mA. 50-pin plug
is compatible with OPTO-22™ signal conditioning equipment.
Controllable with the 6000 Series programming language.
±10V analog output. 12-bit DAC. Load should be > 2KΩ impedance.
Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W.
* TTL-compatible voltage levels: Low ≤ 0.4V, High ≥ 2.4V
I/O Pin Outs & Circuit Drawings
This section, organized by connector, provides pin outs and circuit drawings for all 6250
inputs and outputs. All inputs and outputs are optically isolated.
Drive Connectors
The following table lists pin outs for the 6250's two 9-pin DRIVE connectors. Internal circuits
are shown below.
Pin # In/Out Name Description
1 ----- SHLD Shield—internally connect to chassis (earth) ground.
2 ----- COM Signal common to which the shutdown relay outputs are referenced.
3 OUT SHTNC Shutdown relay output to drives that require a closed contact to disable the drive(see circuit drawing below). The
shutdown relay is active (disabling the drive) when no power is applied to the 6250. When the 6250 is powered
up, the shutdown relay remains active until you issue the DRIVE11 command.
Shutdown active (DRIVEØØ): This output is internally connected to COM.
Shutdown inactive (DRIVE11): This output is disconnected from COM.
4 OUT SHTNO Shutdown relay output to drives that require an open contact to disable the drive(see circuit drawing below).
The shutdown relay is active (disabling the drive) when no power is applied to the 6250. When the 6250 is
powered up, the shutdown relay remains active until you issue the DRIVE11 command.
Shutdown active (DRIVEØØ): This output is disconnected from COM.
Shutdown inactive (DRIVE11): This output is internally connected to COM.
5 IN DFT Drive fault input. Set active level with the DRFLVL command. The drive fault input will not be recognized until
you enable the input functions with the INFEN1 command. — see circuit diagram below
6 ----- AGND Analog ground.
7 IN ANI ±10V, 14-bit analog input. Input value is reported with the [ANI] and TANI commands. (6250-ANI option only).
8 OUT CMD- Command signal return. — see circuit diagram below
9 OUT CMD+ Command output signal (±10V signal). — see circuit diagram below
Shutdown Active (DRIVEØØ ):
Open
Internal Shutdown Output Circuit
SHTNC
SHTNO
Internal Drive Fault Input Circui
t
+5VDC
GND
74HCTxx
6.8 KΩ
Drive Fault
(DFT)
GND
Internal Command Signal
Output Circuit
AGND
CMD+
CMD-
DRIVE Connector
+
-
Command +
+
-
AGND
COM
DRIVE Connector
51 KΩ
Closed
Open
SHTNC
SHTNO
COM
Closed
Shutdown Inactive (DRIVE11 ):
Solid State Relay
Solid State Relay
DRIVE ConnectorDRIVE Connector
- 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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