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6250 Servo Controller User Guide

☞

You can change the

input debounce time

with the INDEB

command.

Each position latch input has a 25-ms debounce time. Therefore, the maximum rate that the

input can capture positions is 40 times per second. However, if your application requires a

shorter debounce time, you can change it with the INDEB command (refer to the Input

Debounce Time section provided earlier in this chapter). TRG-A and TRG-B must transition

from high (+5V) to low to capture a position; the active level of the trigger inputs is not

programmable with the INLVL command. After the high-to-low transition, position latch

inputs must remain low for at least 100 µs. It is the falling edge that latches data in hardware.

System status bits #25 and #26, reported with the TSS and [ SS ] commands, are set to 1

when the position has been captured on the respective trigger input (TRG-A and TRG-B,

respectively). As soon as the captured position is transferred (TPCE) or assigned/compared ([

PCE ]), the respective system status bit is cleared, but the position information is still

available from the register until it is overwritten by a new position latch from the trigger

input.

Jogging the

Motor

(INFNCi-aJ)

(INFNCi-aK)

(INFNCi-aL)

In some applications, you may want to move the motor manually. You can configure the

6250 to allow you to move the motor manually with the INFNC command.

You must define the jogging velocity with the Jog Velocity High (JOGVH) and Jog Velocity

Low (JOGVL) commands. The acceleration and deceleration of the JOG move can be

configured using JOGA, and JOGAD respectively. (If you are using S-curve profiles, you

must also specify JOGAA and JOGADA.)

You can define three different inputs for jogging: CW Jog input (INFNCi-aJ), CCW Jog

Input (INFNCi-aK), and Jog Speed Select High/Low (INFNCi-aL). You must also enable

the jogging feature with the JOG command.

Once you set up these parameters, you can attach a switch to the jog inputs that you defined and

perform jogging. The following example shows how you can define a program to set up

jogging.

Step

➀ Command Description

> DEF prog1 Begin definition of program prog1

- LHØ Disables the limits (

not needed if you have limit switches

installed

)

- SCALEØ Disable scaling

- JOGA25 Set jog acceleration to 25 rps

- JOGAD25 Set jog deceleration to 25 rps

- JOGVL.5 Sets low-speed jog velocity to 0.5 rps

- JOGVH5 Sets high-speed jog velocity to 5 rps

- INFEN1 Enable input functions

- INFNC1-1J Sets input 1 as a CW jog input

- INFNC2-1K Sets input 2 as a CCW jog input

- INFNC3-1L Sets input 3 as a speed-select input

- JOG1 Enables Jog function for axis 1

- END End program definition

Step

➁

Activate input 1 to move the motor in the CW direction at 0.5 rps (until input 1 is released).

Step

➂

Activate input 2 to move the motor in the CCW direction at 0.5 rps (until input 2 is released).

Step

➃

Activate input 3 to switch to high-speed jogging.

Step

➄

Repeat steps 2 and 3 to perform high-speed jogging.

1 2 ... 65 66 67 68 69 70 71 72 73 74 75 ... 137 138

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Calculated Industries 6250 Guide de l'utilisateur Page 70

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