Parker Hannifin SERVO CONTROLLER OEM6250 User Manual

Page 29

Chapter 1. Installation

2 3

Connections

Test Procedure

Response Format

(left to right)

Analog Output
Signal

1. If the servo drives are connected to the OEM6250’s DRIVE connectors, disconnect them.

2. Set all the gains to zero by entering these commands:

SGP¯,¯

SGI¯,¯

SGV¯,¯

SGAF¯,¯

, and

SGVF¯,¯

3. Enter the

DRIVE11

command to enable the OEM6250 to send out the analog command.

4. Set the DAC output limit to 10 volts by entering the

DACLIM1¯,1¯

command.

5. Drive the analog output to the maximum positive range by entering the

SOFFS1¯,1¯

command.

6. Enter the

TDAC

command to check the analog output value. The response should be

*TDAC+1¯,+1¯

7. Using a Digital Volt Meter (DVM), measure the actual analog output voltage between the

CMD+ (analog command) and CMD- (analog command return) terminals. Compare the
DVM reading to the entry for the

SOFFS

command (see step 5). If the reading deviates

more than 0.1V from +10V, then there is either a problem with the system’s grounding
connection or the OEM6250’s DAC is not functioning properly.

8. Repeat steps 5 through 7, using these servo output offset values for step 5:

SOFFS-1¯,-1¯
SOFFS¯,¯
SOFFS5,5
SOFFS-5,-5

TDAC

response

(output voltage )

axis 1,

axis 2

Encoder

1. Enter these commands:

TPE

T.3

, and then

. This will begin a

continuous display of the encoders position. Press the

key to move the display to

the next line and save the current value.

2. Manually rotate the encoder shaft and verify that the position changes as you rotate the

encoder shaft. If you connected the encoder as instructed earlier in this chapter, moving
the shaft clockwise should increase the position reading. If the reading does not change,
or if the direction is reversed, check the connections. If the direction is reversed, swap the
A+ and A- connections.

3. When finished, enter the

(ctrl-K) or

command to stop the continuous report-back.

TPE

response

(encoder counts)

encoder1,

encoder1

Direction of rotation:

Counter-clockwise

(negative counts)

Clockwise

(positive counts)

ANI Analog
Input Feedback

(OEM6250-ANI
only)

1. Enter these commands:

TANI

T.3

, and then

. This will begin a

continuous display of the voltage level at the ANI inputs on the optional ANI input card.
Press the

key to move the display to the next line and save the current value.

2. Change the voltage output from your voltage source and verify that the

TANI

report

changes accordingly. If the reading does not change, check the connections.

3. When finished, enter the

(ctrl-K) or

command to stop the continuous report-back.

TANI

response

(volts)

ANI input #1,

ANI input #2

NOTE

ANI feedback is measured in
volts

Programmable
Inputs
(incl. triggers)

1. Open the input switches or turn off the device driving the inputs.

2. Enter the

TIN

command.

The response should be

*TIN¯¯¯¯_¯¯¯¯_¯¯¯¯_¯¯¯¯_¯¯

3. Close the input switches or turn on the device driving the inputs.

4. Enter the

TIN

command.

The response should be

*TIN1111_1111_1111_1111_11

TIN

response:

bits 1-16 = prog. inputs 1-16
bits 17-18 = TRG-A and TRG-B

Programmable
Outputs
(incl. OUT-A
and OUT-B)

1. Enter the

OUTALL1,1¯,1

command to turn on (sink current on) all programmable

outputs. Verify that the device(s) connected to the outputs activated properly.

2. Enter the

TOUT

command.

The response should be

*TOUT1111_1111_11

3. Enter the

OUTALL1,1¯,¯

command to turn off all programmable outputs. Verify that the

device(s) connected to the outputs de-activated properly.

4. Enter the

TOUT

command.

The response should be

*TOUT¯¯¯¯_¯¯¯¯_¯¯

TOUT

response:

bits 1-8 = prog. outputs 1-8
bits 9-10 = OUT-A and OUT-B

RP240

1. Cycle power to the OEM6250.

2. If the RP240 is connected properly, the RP240’s status LED should be green and one of the

lines on the computer or terminal display should read

*RP24¯ CONNECTED

If the RP240’s status LED is off, check to make sure the +5V connection is secure.

If the RP240’s status LED is green, but the message on the terminal reads

*NO REMOTE

PANEL

, the RP240 Rx and Tx lines are probably switched. Remove power and correct.

3. Assuming you have not written a program to manipulate the RP240 display, the RP240

screen should display the following:

COMPUMOTOR 6250 SERVO CONTROLLER
RUN JOG STATUS DRIVE DISPLAY ETC

Enable and
Joystick Inputs

1. Open the enable input (ENBL) switch, and open the joystick input switches or turn off the

device driving the joystick inputs.

2. Enter the

TINO

command.

The response should be

*TINO¯¯¯¯_¯¯¯¯

3. Close the ENBL switch, and close the joystick switches or turn on the device.

4. Enter the

TINO

command.

The response should be

*TINO1111_11¯¯

TINO

response:

bit 1 = joystick auxiliary
bit 2 = joystick trigger
bit 3 = joystick axes select
bit 4 = joystick velocity select
bit 5 = joystick release
bit 6 = Enable (ENBL) input
bits 7 & 8 are not used