Multi-Processor-Based, Two-Axis or Four-Axis Servo Controllers

The AT6250 and AT6450 are multi-processor-based, two-axis and four-axis servo controllers designed to be inserted into a single open ISA expansion slot. They provide sophisticated control of any Compumotor servo motor/drive or any standard +/-10V analog input servo drive system. In addition to the controller, a separate auxilliary board simplifies connections with encoders, motor drives, joystick, limits, and programmable I/O.

The AT6250 and AT6450 come standard with Motion Architect support software for Microsoft Windows. Motion Architect TM allows easy creation and implementation of motion programs. DLLs are provided for MicrosofT Windows TM and Microsoft Windows TM NT development.

The AT6250 and AT6450 use the proven 6000 Series command language. The 6000 command language is powerful enough to solve the most complex applications yet its basic-like structure will not overwhelm a novice programmer.

Features

Motion

• 1 to 4 axes of optically isolated servo control (+/- 10V)
• Incremental encoder feedback
• Analog input option provides one 14-bit +/-10VDC input per axis
• Controls servo drives in torque or velocity mode
• Update rates for servo control as fast as 200 microseconds per axis
• 1.2 MHz post-quadrature position feedback frequency

I/O

• Home, positive and negative end-of-travel limits per axis 24 programmable inputs and 24 programmable outputs
• Dedicated trigger interrupts provide high-speed position capture and registration capability to +/-1 encoder count at maximum frequency
• Drive enable relay outputs
• Drive fault inputs

Programming

• Soft operating system for 6000 Series command language
• Multi-axis teach capability using data arrays
• Position-based following
• Cam profiling
• 2 to 4-axis linear interpolation
• 2-axis circular interpolation with proportional or tangential control of a third axis
• Compiled motion for shorter move execution times
• S-curve or trapezoidal motion profiling
• Numeric, binary and string variable storage
• User-configurable error condition interrupts
• Program debug tools - trace mode, step mode and break points
• 150K of RAM for program storage and path storage

Software Provided

• Motion Architect TM for Windows programming environment
• DLL (Dynamic Link Libraries) for Windows TM and Windows-NT software development in Visual C++ and Visual Basic

Optional Software

• Servo Tuner for graphical tuning of torque or velocity servo drives
• CompuCAM for CAD-to-motion
• Motion OCX Toolkit to create Microsoft . Visual Basic TM controls
• Motion Toolbox TM provides an extensive library of VIs for LabVIEW
• DDE Server provides data exchange with DDE capable applications
• Motion Builder TM for graphical programming and fast application development

Additional References

• Specifications AT6250/AT6450
• User guide
• Support and sample files