System Hardware Block Diagram; 6250 Features - Parker 6250 User Manual

System Hardware Block Diagram

6250
Computer
or
Dumb Terminal
RS-232C
Interface
RP240
Front Panel
Front Panel
Interface
Optional ±10V,
14-bit Analog Input
6250-ANI
Option

6250 Features

1-2 axes of optically isolated Ñ10V analog interface servo control
Servo feedback from incremental encoders. Analog feedback
available with the 6250-ANI option.
Controls servo drives in the velocity or torque mode
Fast digital signal processor (DSP) for sophisticated servo control
(digital Proportional, Integral, and Velocity feedback, plus
acceleration and velocity FeedforwardÑPIV&F)
S-curve motion profiling
¨
Motion Architect is standard
Windowsª-based visual data gathering and tuning aide available
when using the Motion Architect ¨ Servo Tuner option
Teach Mode
40,000 bytes of non-volatile memory for storing programs & paths
Capability to interrupt program execution on error conditions
2-axis linear interpolation, and circular interpolation is standard
Following is standard (use
Variable storage, conditional branching, and math capability
Program debug tools Ñ single-step and trace modes, breakpoints,
and simulation of I/O
Internal power supply
Direct interface to RP240 Front Panel
Operates stand-alone or interfaces to PCs & PLCs
3-wire, RS-232C interface to PC or dumb terminal
1.2 MHz pre-quadrature encoder feedback pulse frequency
I/O capabilities (all I/O are isolated):
¥ ±10V analog control output (both axes )
¥ Shutdown output (both axes)
¥ Drive Fault input (both axes)
¥ Incremental encoder input (both axes), plus 3rd encoder for
Following
¥ CW & CCW end-of-travel limit inputs (both axes)
¥ Home limit input (both axes)
¥ 3 8-bit analog inputs for joystick control and variable input
¥ 3 (trigger) inputs Ñ use for hardware position latch (±1 count accuracy)
¥ 24 programmable inputs (Opto-22ª compatible)
¥ 24 programmable outputs (Opto-22ª compatible)
¥ 2 auxiliary programmable outputs that can be configured for accurate output on position within ±1 count
6250-ANI Option offers two ±10V, 14-bit analog inputs (one per axis) with anti-aliasing filter.
2
6250 Servo Controller User Guide
Battery-backed
- ±10V Analog Output
RAM
for - Shutdown Output
user programs - Drive Fault Input
- Inc. Encoder Interface
Motion Motion
- Position Latch
Chip Chip
- Output on Position
Axis #1 Axis #2
- CW & CCW End-of-travel
Operating System
- Home
------------
Microprocessor
68000 - 12MHz
- Enable Input
- 2 Positon Latch Inputs
Dual Port RAM
- 24 Prog. Inputs
- 24 Prog. Outputs
- 2 Auxiliary Prog. Outputs
DSP
for Following encoder)
ENCODER 3
Drive Interface
Limits
I/O
Joystick Interface
6250 Front Panel
Up to 2 Axes of control
Drive #1
Motor #1
Drive #2
Motor #2
Encoder
Limit
Connections
Encoder
I/O
Connections
Joystick
GRN : READY
ENCODER 1 STATUS
DRIVE 1
RED : RESET
SHLD +5V
DRIVE1 OFF
COM A+
DRIVE2 OFF
SHTNC A-
SHTNO B+
6250
DFT B-
AGND Z+
ANI Z-
2-AXIS SERVO
CMD- GND
CONTROLLER
CMD+ SHLD
ENCODER 3
ENCODER 2
DRIVE 2
SHLD +5V +5V
COM A+ A+
SHTNC A- A-
SHTNO B+ B+
B-
DFT B-
TRG-C
AGND Z+
GND
ANI Z-
GND
CMD- GND
SHLD
CMD+ SHLD
AUX RP240
Rx +5V
P
Tx
GND
R
GND
Rx
O
SHLD
Tx
G
+5V
SHLD
R
OUT-P
A
M
IN-P
M
TRG-A
A
TRG-B
B
J
GND L
O
E
OUT-A
Y
OUT-B S
I
T
GND
N
I
ENBL
P
C
U
K
T
S
POWER
EARTH N/A
NEUT LINE
Compumotor
#1
#2
LIM 1/2
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
P
R
O
G
R
A
M
M
A
B
L
E
O
U
T
P
U
T
S