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Compumotor
 AT6200 & AT6400
Indexers

Compumotor’s AT6200 (two axes of control) and AT6400 (four axes of control) are PC bus-based (ISA) indexers designed for industry-standard step and direction motor drives. These indexers can synchronize 2, 3, or 4 axes of motion. Incremental encoder feedback on all four axes provides the ability to detect stalls, verify position, and correct for positioning errors generated by inaccurate mechanical transmissions. Like all Compumotor 6000 Series controllers, the AT6200 and AT6400 use the 6000 Series command language, a powerful command language that is flexible enough to implement complex motion control applications and simple enough to not overwhelm the novice programmer.

The AT6200 and AT6400 come standard with Motion Architect, support software for Microsoft Windows operating environment.

In addition to Motion Architect, DOS-based support disk program editor and terminal emulator program examples in C, Pascal, BASIC, and Assembly are included. These examples illustrate controlling and communicating with the AT6200 and AT6400.

These indexers have a separate auxiliary board to simplify motor drives, encoders, programmable I/O and joystick connections. There are three auxiliary board versions available: a 120VAC input, a 240VAC input, or a +5VDC input, open-framed version.

Features

Motion

  • 1–2 axes of step and direction control with encoder feedback (AT6200)
  • 1–4 axes of step and direction control with encoder feedback (AT6400)
  • 1.6MHz step output frequency I/O
  • Home limit, positive and negative end-of-travel limits provided for all axes
  • 24 programmable inputs, 24 programmable outputs
  • 4 analog inputs that can be used for joystick or feed-rate override control
  • Up to 4 interrupt-driven inputs for encoder capture and registration inputs
  • Encoder channels can be configured as hardware up/down counters
Language
  • Example routines written for Microsoft Visual Basic™ and Visual C++
  • Velocity and acceleration changes on-the-fly
  • Scaling of distance, velocity and acceleration parameters
  • Position-based following
  • 2-axis circular or linear interpolation (4-axis linear interpolation for AT6400)
  • Variable storage, conditional branching, and math
  • Direct access to motor and encoder position information, I/O and system status (Fast Status area)
  • Program debug tools—trace mode, break points, and simulation of I/O
  • Programmable timer
  • Programmable PC interrupt conditions
  • Capability to interrupt program on error conditions
  • 1.5 Mbytes of RAM for program and path storage
Software Provided
  • Motion Architect, Microsoft Windows-based application development software
  • DOS-based program editor and terminal emulator software
  • Dynamic Link Library (DLL) provided for use with Microsoft Windows and Microsoft Windows-NT™ software development kits
Optional Software
  • Motion OCX Toolkit provides three custom controls for communication, terminal emulation and fast status polling
  • 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
  • Motion Builder provides a visual-development environment for graphical icon-based programming of the 6000 Series product
Physical
  • Separate adaptor board to simplify connections for all inputs and outputs
  • Auxiliary board available in three versions: 120VAC input, 240VAC input and +5VDC input, open-frame
  • All connections from PC card to auxiliary board through a single 5-foot high density cable

 
Additional References

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