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Basic 6250 Features

6250 Safety Features

To help ensure a safe operating environment, you should take advantage of the 6250's safety

features (see table). See Also refers you to the section in this user guide where you can find

more in-depth information about the feature (system connections and/or programming

instructions).

Feature Description See Also

Enable Input The enable input (ENBL), found on pin #14 on the AUX

connector, is provided as an emergency stop input to the

6250.

When you open the ENBL input, with respect to GND, the

analog output voltage between CMD+ and CMD- is clamped

to almost zero, and the shutdown outputs are activated on

both axes.

Clamping occurs independent of the

microprocessor and the DSP.

(The clamping circuit is also

connected to the watchdog timer; if the 6250's

microprocessor fails, the analog output voltage will be

clamped.)

Chapter 3:

System

Connections

Shutdown

Outputs

The 6250 uses the shutdown outputs to disable the drive if it

detects a problem. Two types of relay outputs are found on

both DRIVE connectors—SHTNC for drives that require a

closed contact to disable the drive, and SHTNO for drives

that require an open contact to disable the drive.

The shutdown relay outputs are essential for smooth power-

up and power-down of the system. 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.

Chapter 3:

Motor Driver

Connections

Drive Fault

Inputs

The drive fault (DFT) inputs, found on pin #5 of both DRIVE

connectors, allows the drives to tell the 6250 if they

encounter a fault condition. When a drive fault occurs, the

6250 stops motion (at the rate set with the LHAD command)

and terminates program execution. No drive shutdown will

result unless it is initiated with an ERRORP error program.

Chapter 3:

Motor Driver

Connections

End-of-travel

Limit Inputs

End-of-travel limits prevent the load from crashing through

mechanical stops, an incident that can damage equipment

and injure personnel.

You can use hardware or software limits, as your application

requires. Hardware limits use the CW and CCW terminals on

the LIM1/2 connector. Software limits are set with the LSCCW

and LSCW commands.

Chapter 5:

End-of-Travel

Limits

User Fault

Input

Using the INFNCi-F command, you can assign any of the

programmable inputs the

user fault

function. You can then

wire the input to activate when an external event, considered

fault

by the user, occurs.

Chapter 5:

Input

Functions

Maximum

Allowable

Position Error

position error

(TPER) is defined as the difference between

the commanded position (TPC) and the actual position as

measured by the encoder (TPE). The maximum allowable

position error is set with the SMPER command. When the

maximum allowable position error is exceeded (usually due

to instability or loss of position feedback from the encoder),

the 6250 shuts down the drive and sets error status bit #12

(reported by the TER command).

If SMPER is set to zero (SMPERØ), the position error will not be

monitored.

Chapter 4:

Servo Tuning

☞

Programmed Error-

Handling Responses

When any of the safety features listed above are exercised (e.g., ENBL input is opened, DFT input

is activated, etc.), the 6250 considers it an error condition. With the exception of the shutdown

output activation, you can enable the ERROR command to check for the error condition, and

when it occurs to branch to a preprogrammed response defined with the ERRORP command.

Refer to the Error Handling section in Chapter 7 for further information.

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