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➂
Installation
7
C H A P T E R ➂
Installation
The information in this chapter will enable you to:
❏ Mount all system components properly
❏ Connect all inputs and outputs properly
❏ Verify that the complete system is installed properly
To ensure proper installation, you should perform all the bench test procedures in Chapter 2,
Getting Started,
before proceeding with the permanent installation process in this chapter.
Installation Precautions
To help ensure personal safety and long life of system components, pay special attention to
the following installation precautions.
WARNING
Always remove power to the 6250 before performing wiring installation or changing DIP switch
settings.
Heat & Humidity
Operate the 6250 system at an ambient temperature between 32° and 122°F (0° to 50°C). Keep
the relative humidity below 95%.
Electrical Noise
For more information
on electrical noise,
refer to Appendix A.
Minimize the potential for electrical noise before installing the 6250, rather than attempting to
solve such problems after installation. You can prevent electrical noise by observing the
following installation precautions:
❏ Do not route high-voltage wires and low-level signals in the same conduit.
❏ Ensure that all components are properly grounded.
❏ Ensure that all wiring is properly shielded.
- 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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