Compumotor’s 6250 is a stand-alone two-axis servo controller. The 6250 provides sophisticated control for any standard ±10V analog input servo drive system and is perfect for the synchronization of two axes of motion. A Digital Signal Processor (DSP) is used for high-speed servo control. A separate microprocessor is used for executing high-level motion programs. The 6250 uses a dual processor approach for industry leading servo control and motion command execution.

As with all 6000 Series products, the 6250 uses the 6000 command language. This language is powerful enough to implement complex motion control applications, and simple enough not to overwhelm the novice programmer. Many useful features are incorporated into the command language, including subroutine definition, conditional programming, unit scaling, programmable I/O, contouring, and mathematical functions.

The 6250 comes standard with Motion Architect, a comprehensive software package for creating and executing motion control programs under Microsoft Windows. Within Motion Architect, a user is able to automatically generate setup code, edit and execute motion control programs and create a custom test panel. On-line help is available throughout Motion Architect, including interactive access to the complete contents of the 6250's Software Reference Guide. This powerful tool allows the user to save valuable setup and development time.

An additional benefit of using Motion Architect with the 6250 is its optional Servo Tuner module. Real-time move information, such as commanded velocity, actual position, etc., is gathered and used to graphically display move data. The user can see the results of changing tuning values to optimize motion profiles. Multiple graphs can be saved providing a history of the system's performance.

The 6250 programming language allows the user to display text and numeric information on the RP240. Other RP240 features include programmable function keys, numeric data entry, user program selection, LED control, and jogging.

Features Motion

• 2 axes of optically isolated servo control (± 10V-12 bit analog interface) with incremental encoder feedback
• Controls servo drives in velocity or torque mode
• Update rates for servo loop as fast as 205 microseconds for one axis
• Digital Signal Processor (DSP) for servo control (PIV with velocity and acceleration feed-forward)
• 1.2 MHz post-quadrature position feedback frequency

  I/O

• Home limit, Pos and Neg end-of-travel limits
• 48 programmable inputs (24) and outputs (24)
• Auxiliary high-speed programmable inputs and outputs providing position capture or output on position to ± 1 count at maximum encoder frequency
• Drive Enable outputs, Drive Fault inputs
• 3 8-bit analog inputs that can be used for joystick or variable input (temperature, tension, etc.)
• 6250 ANI option offers two ±10V, 14-bit analog inputs (one per axis) with anti-aliasing filter; can also be used for position feedback

  Language

• Capability to interrupt program execution on error conditions
• Position-based following
• Linear interpolation
• Variable storage, conditional branching, and math capability
• Program debug tools—trace mode, break points, and simulation of I/O
• Scaling of distance, velocity and acceleration
• S curve or trapezoidal motion profiling
• 150,000 bytes of non-volatile memory for storage of programs and paths

• Motion Architect—Microsoft Windows-based application development software
• DOS support software program editor and terminal emulator software
• Dynamic Link Library (DLL) provided for use with Microsoft Windows software development kit

• Servo Tuner provides graphical feedback of real-time motion information to make determining tuning gains simple
• CompuCAM™ Computer Aided Motion Software imports geometry from CAD programs, plotter files, or NC programs and generates 6000 Series code
• Motion Toolbox library of LabVIEW® virtual instruments (VIs) for icon-based programming of Compumotor’s 6000 Series controllers
• Dynamic Data Exchange server available allowing data exchange with other Windows software applications
• Motion Builder provides a visual development environment for graphical icon-based programming of the 6000 Series products

• Operates stand-alone or interfaces to computers, programmable logic controllers
• Compatible with RP240 operator interface panel
• Two RS-232C Communications Ports