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➄
Basic 6250 Features
61
Disabling the Drive
on a Kill
If your application requires you to disable (shut down or de-energize) the drive in a Kill situation,
set the 6250 to the Disable Drive on Kill mode with the KDRIVE1 command. In this mode, a
kill command or kill input will shut down the drive immediately, letting the motor free wheel
(without control from the drive) to a stop. When the drive is disabled, the SHTNC relay output is
connected to COM and the SHTNO relay output is disconnect from COM. To re-enable the drive,
issue the DRIVE1 command.
Stop
(INFNCi-D)
An input defined as a Stop input will stop motion on any one or all axes. Deceleration is
controlled by the programmed (AD/ADA) deceleration ramp. After the Stop input is received,
further program execution is dependent upon the COMEXS command setting:
COMEXSØ: Upon receiving a stop input, program execution will be terminated and every command
in the buffer will be discarded.
COMEXS1: Upon receiving a stop input, program execution will pause, and all commands following
the command currently being executed will remain in the command buffer (but the move
in progress will not be saved).
You can resume program execution (but not the move in progress) by issuing an
immediate Continue (!C) command or by activating a pause/resume input (i.e., a general-
purpose input configured as a pause/continue input with the INFNCi-E command—see
below). You cannot resume program execution while the move in progress is
decelerating.
COMEXS2: Upon receiving a stop input, program execution will be terminated, but the INSELP
value is retained. This allows external program selection, via inputs defined with the
INFNCi-B or INFNCi-aP commands, to continue.
Pause/Continue
(INFNCi-E)
An input defined as a Pause/Continue input will affect motion and program execution
depending on the COMEXR command setting, as described below. In both cases, when the
input is activated, the current command being processed will be allowed to finish executing
before the program is paused.
COMEXRØ: Upon receiving a pause input, only program execution will be paused; any motion in
progress will continue to its predetermined destination. Releasing the pause input or
issuing a !C command will resume program execution.
COMEXR1: Upon receiving a pause input, both motion and program execution will be paused; the
motion stop function is used to halt motion. Releasing the pause input or issuing a !C
command will resume motion and program execution. You cannot resume program
execution while the move in progress is decelerating.
User Fault
(INFNCi-F)
An input defined as a User Fault input will set error status bit 7 (reported by TER and [ ER ]),
and act as a Kill (K) command. Once this bit has been set, the error program (ERRORP) will be
initiated if the specific error condition was enabled (ERRORxxxx xx1). Within the error
program, a response to the fault condition can be initiated.
Position Latch
(INFNCi-H)
Certain applications (such as coordinate measurement machines) require latching the current
encoder position, commanded position or ANI analog input valve upon receiving an input.
This function can only be assigned to the two trigger inputs (inputs 25 & 26).
NOTE
The position of axis 1 can be captured only by TRG-A (INFNC25-H), and the position of axis 2
can be captured only by TRG-B (INFNC26-H).
When configured as position latch inputs, the triggers cannot be affected by the input enable
(INEN) command. Also, whether configured as position latch inputs or not, the input active
level (INLVL) command has no effect on the triggers.
Trigger input specs
and circuit drawings
are provided in
Chapter 8.
When a trigger input is defined as a Position Latch input, the encoder position is latched
within ±1 encoder count (at max. encoder frequency) in hardware after the input is activated.
The position information is stored in registers, and is available within the next 1-ms update
period through the use of the TPCE or [ PCE ] commands.
- 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
Produits connexes et manuels pour Pompes à eau Calculated Industries 6250
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