Catalog 8000-2/USA Controller AT6250/AT6450 Compumotor s AT6250 and AT6450 are multi-processorbased, four-axis and two-axis servo controllers designed to be inserted into a single open expansion slot in a PC bus-based (ISA) indexer. These servo controllers provide sophisticated multi-axis control of any Compumotor servo motor/drive or any standard ±10V analog input servo drive system. The AT6250 and AT6450 utilize a dual processor approach, comprised of a microprocessor for executing high-level motion programs and a digital signal processor (DSP) for high-speed sophisticated servo control. A separate auxiliary 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 the Microsoft Windows operating environment. Motion Architect allows you to easily create and implement motion programs. Also standard are the AT6450 DOS and AT6250 DOS support software disks which provide terminal emulation and programming examples in ASSEMBLY, PASCAL, C, and BASIC. The AT6250 and AT6450 use the 6000 Series command language. This popular language is powerful enough to implement complex motion control applications and simple enough to not overwhelm the novice programmer. Features Motion 1 to 4 axes of optically isolated servo control (±10V-12 bit analog interface) with incremental encoder feedback (1 to 2 axes for AT6250, 1 to 4 axes for AT6450); Analog input option provides one 14-bit ±10VDC feedback input per axis Controls servo drives in velocity or torque mode Update rates for servo loop as fast as 200 microseconds for one axis 1.2 MHz post-quadrature position feedback frequency I/O Home limit, Pos and Neg end-of-travel limits for each axis 24 programmable inputs and 24 programmable outputs Auxiliary, high-speed programmable inputs and outputs providing position capture or output on position to ±1 count at maximum encoder frequency Drive Enable Relay outputs, Drive Fault inputs 4 analog inputs that can be used for joystick or variable inputs (temperature, tension, etc.) Language Soft operating system (6000 Series Language) Dedicated hardware registers for commanded position, I/O, system status, axis status, and encoder position Multi-axis teach capability Position-based following 2- or 4-axis linear interpolation S curve or trapezoidal motion profiling Variable storage, conditional branching, and math capability Capability to interrupt program execution on error conditions Program debug tools trace mode, break points, and simulation of I/O Scaling of distance, velocity and acceleration Software Provided: Motion Architect Microsoft Windows-based application development software DOS support software program editor and terminal emulator software 150,000 bytes of RAM for program and path storage Optional Software: 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 OCX Toolkit provides OCX custom controls for easy development of virtual instrument interface 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 Compumotor s 6000 Series Products Physical Auxiliary board is available in three versions: a 120VAC input; a 240VAC input; or a +5VDC and ±15VDC input open frame version All connections from PC card to auxiliary board are through a single high-density cable Software information is available on page B109. B132
Servo Systems Catalog 8000-2/USA Language (partial command list) The AT6250 and AT6450 are easily programmed with the 6000 Series language. Each command is an ASCII character mneumonic with numeric parameters for all axes following the command. The following command example sets acceleration for axes 1 thru 4: A10,15, 6, 22. Conditionals IF( ) REPEAT WAIT( ) WHILE( ) GOWHEN( ) Following FOLEN FOLMAS FOLMD FOLRN FOLRD FSHFD FSHFC Homing HOM HOMA HOMAD HOMBAC HOMDF HOMEDG HOMLVL HOMV HOMVF HOMZ I/O INFEN INFNC OUTFNC OUT Joystick JOY JOYA JOYAD JOYCDB JOYVH JOYVL Limits LH LHAD LHLVL LS LSAD LSPOS LSNEG If statement Repeat statement Wait for a specific condition While a condition is true Initiate a move based on a condition Enable following Define master axes Define master move distance Set maximum following ratio numerator Set maximum following ratio denominator Initiate preset phase shift Initiate continuous shift Go home Home acceleration Home deceleration Home backup enable Home direction final Home reference edge Home active level Home velocity Home velocity final Home to Z-channel enable Enable input functions Input function Output function Turn on/off outputs Joystick mode enable Joystick acceleration Joystick deceleration Joystick center deadband Joystick velocity high Joystick velocity low Hard limit enable Hard limit deceleration Hard limit active level Soft limit enable Soft limit decelration Soft limit POS range Soft limit NEG range Software information is available on page B109. Mathmatical + Addition - Subtration * Multiplication / Division & Boolean and Boolean or SIN Sine COS Cosine TAN Tangent ATAN Arc tangent SQRT Square root Miscellaneous ; Comment DRIVE Drive enable ERRORP Error program L Loop MA Absolute/incremental mode enable MC Preset/continuous mode enable PSET READ TIMST STEP WRITE Define position counter Read a value from terminal Reset and start timer Single step mode enable Transmit a string to terminal Motion A Acceleration AA Average S-curve acceleration AD Deceleration ADA Average S-curve deceleration D Distance GO Initiate motion GOL Initiate linear interpolated motion S Stop V Velocity Scaling SCALE Enabling scaling SCLA Accel/decel scale factor SCLD Distance scale factor SCLV Velocity scale factor Servo Tuning SGAF Acceleration feedforward gain SGI Integral feedback gain SGP Proportional feedback gain SGSET Save a set of servo gains SGV Velocity feedback gain SGVF Velocity feedforward gain SOFFS Servo command offset Subroutines DEF Define a subroutine GOSUB Execute a subroutine with return GOTO Execute a subroutine without return Transfer Information TAS Transfer axis status TANV Transfer analog input value TCMDER Transfer command that caused an error TCNT Transfer counter TIN Transfer input status TLIM Transfer limit status TOUT Transfer output state TPE Transfer position of encoder TSS Transfer system status TSTAT Transfer statistics AT6250/ AT6450 B B133
Catalog 8000-2/USA Controller Specifications Parameter Value Performance Position range ±2,147,483,648 steps Velocity range 0.001 to 1,200,000 counts/sec Acceleration range 0.001 to 2,147,483,648 counts/sec 2 Velocity accuracy ±0.02% of maximum rate Velocity repeatability ±0.02% of set rate Motion trajectory update period Default: 1.6 ms for AT6250; 3.0 ms for AT6450 Servo sampling update period Default: 400 µs for AT6250; 785 µs for AT6450 System update period Default: 1.6 ms for AT6250; 3.0 ms for AT6450 Power AT6250 and AT6450 PC Card ANI Card 120V Auxiliary Board (AC or DC input) 240V Auxiliary Board (AC or DC input) DC Auxiliary Board 5VDC @ 3.5A from the PC-AT bus 5VDC @ 0.75A for each card from PC-AT bus 90-123VAC, 50/60Hz, 1.5A @ 120VAC, single phase; or 115-165VDC 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single phase; or 115-340VDC +5VDC @ 1.6A and ±15VDC @ 50mA, ±10% from an external source Inputs (see also I/O pin outs and circuit drawings) Home, Pos/Neg limits, drive fault, joystick trigger, TTL-compatible*; internal 6.8 KΩ joystick release, joystick axes select, joystick velocity pull-ups to 5V; voltage range is 0-24V Encoder Differential comparator accepts two-phase quadrature incremental encoders with differential (recommended ) or single-ended outputs (+5VDC TTLcompatible*), Maximum frequency = 1.2 MHz, Minimum time between transitions = 833 ns 24 programmable TTL-compatible* with internal 6.8KΩ pull-up (Connect IN-P to +5V to source current or connect IN-P to GND to sink current). Voltage range = 0-24V, 50- pin plug is compatible with OPTO-22 signal conditioning equipment. Controllable with the 6000 Series programming language. Trigger inputs AT6250 has 3 & AT65450 has 4 TTL compatible* high speed inputs for position capture & general purpose functions Analog (Joystick) Voltage range = 0-2.5VDC, 8-bit A/D converter. Input voltage must not exceed 5V. Analog (ANI option) Voltage range = ±10VDC, 14-bit A/D converter. one per axis. Requires an 8-bit slot. Outputs (See also I/O pin outs and circuit drawings) 24 programmable TTL compatible*, open collector output. Can be pulled up by connecting OUT-P to +5V on the auxiliary board, or to user-supplied voltage of up to 24V. Max. current in ON state (sinking) = 30mA. 50-pin plug is compatible with OPTO-22 signal conditioning equipment. Auxiliary outputs AT6250 has 3 and AT6450 has 4 TTL compatible* open connector highspeed outputs for output on position & general purpose functions. Out (CMD) ±10V analog output. 12-bit DAC. Load should be >2KΩ impedance. Shutdown (SHTNO, SHTNC, and COM) Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W Auxiliary Analog output (ANA) ±10V analog output. 8-bit DAC. Load should be >2KΩ impedance. Accuracy is ±5%. Board monitor alarm (BMA) Detects unrecoverable faults in hardware and software. Environmental Operating temperature 32 to 122 F (0 to 50 C) Storage temperature 22 to 185 F ( 30 to 85 C) Humidity 0% to 95% non-condensing * TTL-compatible voltage levels: Low 0.4V, High 2.4V B134
Servo Systems Catalog 8000-2/USA Model AT6250 and AT6450 Connections Pin-Out Lists Drive 2 or 4 2 Shutdown common 3 Normally closed shutdown output 4 Normally open shutdown output 5 Drive fault input 6 Analog ground 7 Analog ground 8 return 9 output Encoder 3 or 4 3 Z Channel 4 Z Channel+ 5 B Channel 6 B Channel+ 7 A Channel 8 A Channel+ 9 +5V (out) Triggers 3 Fast trigger input D 4 Ground 5 Fast trigger input C 6 Ground 7 Fast trigger input B 8 Ground 9 Fast trigger input A AT6250/ AT6450 Joystick 25-Pin D 1 Analog Ch. 1 2 Analog Ch. 2 3 Analog Ch. 3 4 Analog Ch. 4 8 Shield 14 Ground 15 Axes select 16 Velocity select 17 Joystick release 18 Joystick trigger 19 Joystick auxiliary 23 +5VDC (out) Limits 3 Home 2 or 4 4 Neg 2 or 4 5 Pos 2 or 4 6 Ground 7 Home 1or 3 8 Neg 1 or 3 9 Pos 1 or 3 Auxiliary Outputs 3 Output-D 4 Ground 5 Output-C 6 Ground 7 Output-B 8 Ground 9 Output-A Auxiliary 1 Ground 2 Enable 3 Analog output 4 Ground 5 Input-P 6 Output-P 7 +5V 8 Ground 9 +5V B Programmable Inputs 50-Pin Header 1 Input #24 (MSB)...... 47 Input #1 (LSB) 49 +5VDC (out) Even #s Ground Programmable Outputs 50-Pin Header 1 Output #24 (MSB)...... 47 Output #1 (LSB) 49 +5VDC (out) Even #s Ground B135
Catalog 8000-2/USA Controller AT6250 and AT6450 Dimensions 120VAC and 240VAC Input AUX Boards 0.25 (6.35) 2.43 (61.72) 2.00 (50.80) 6.10 (154.94) 1.25 (31.75) 0.20 (5.08) 0.75 (19.05) Mounting brackets and 6-32 0.25 (6.35) mounting screws are provided in the ship kit. 10.10 (256.54) 11.20 (284.48) 0.375 (9.53) 1.25 (31.75) Optional Mounting Tab Location Provision for #10 Mounting Screws (4 Places) AT6250 and AT6450 Dimensions DC Input Open Frame AUX Board 0.35 (8.89) 1.75 (44.45) 0.20 (5.08) 0.55 (13.97) 6.10 (154.94) 5.00 (127.00) 0.20 (5.08) 11.20 (284.48) 11.60 (294.64) 10.70 (271.78) Provision for #6 Mounting Screws B136
Servo Systems Catalog 8000-2/USA System Summary AT6250 AT6450 (1-2 axes) (1-4 axes) ±10V analog control output 1 per axis 1 per axis Shutdown output (normally-open and normally-closed relay available) 1 per axis 1 per axis Drive Fault input 1 per axis 1 per axis Incremental encoder input 1 per axis + one 1 per axis CW & CCW end-of-travel limit inputs 1 ea per axis 1 ea per axis Home limit input 1 per axis 1 per axis Auxiliary analog output (8-bit, ±10V) 1 1 8-bit analog input channels for joystick control and variable input 4 4 General purpose programmable inputs (Opto-22 compatible) 24 24 General purpose programmable outputs (Opto-22 compatible) 24 24 Trigger inputs 3 4 Auxiliary outputs 3 4 AT6250/ AT6450 Ordering Information Part No. AT6250-120V AT6250 with 120VAC input power AT6250-240V AT6250 with 240VAC input power AT6250-DC AT6250 with +5V and ±15V DC input power AT6450-120V AT6450 with 120VAC input power AT6450-240V AT6450 with 240VAC input power AT6450-DC AT6450 with +5V and ±15V DC input power Accessories Part No. VM24 VM50 JS6000 Family of external I/O modules. See page B138. 50-pin header to screw terminal breakout board for connecting I/O. See page B139. Two-axis joystick. See page B141 for details. Software Accessories Part No. Motion OCX Toolkit Servo Tuner CompuCAM Motion Builder Motion Toolbox Three OCX custom controls, communication, terminal and polling OCX Motion Architect Servo tuning module. CompuCAM is available in three versions: DXF, HPGL and G-Code Graphical icon-based software Library of LabVIEW VIs for Motion Control. Software information is available on page B109. B B137