Parker 6K Series Hardware Installation Manual Download

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6K Hardware Installation Guide

RS-485 Communication

RS-232 Connector

Pin Outs for RS-485 Communication

Pin Description

Rx + (also called RD B)

Tx + (also called TD B)

GND (isolate ground)

Rx – (also called RD A)

Tx – (also called TD A)

•

Maximum RS-485 cable length is 4000 feet (1220 meters).

•

To establish unique addresses for multi-drop units, use the

ADDR

command.

•

Use termination resistors at both ends of the multi-drop. Keep
stubs as short as possible.

•

Recommended cables: 2-wire: Belden 9841

4-wire:

Belden

9842

•

Refer to the diagrams below (or page 5) for necessary DIP
switch settings for 2-wire and 4-wire configuration.

4-Wire Connections (plus ground):

www.comoso.com

Summary of Contents for 6K Series

Page 1: ...www comoso com ...

Page 2: ...nd mechanical components of motion control systems You should test your motion system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Technical Assistance Contact your local automation technology center ATC or distributor North America and Asia Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 80...

Page 3: ...ce 28 RP240 Remote Operator Panel 32 Expansion I O 32 24 VDC Power Input 33 Testing the Installation 34 What s Next 35 Chapter 2 Troubleshooting 36 Troubleshooting Basics 37 Technical Support 37 Solutions to Common Problems 38 Resolving Serial Communication Problems 42 Product Return Procedure 43 Appendix A VM25 Installation 44 Appendix B EVM32 Installation 45 EVM32 Description 45 EVM32 Specificat...

Page 4: ...al RS 232 or RS 485 communication depending on which communication protocol you are using Related Publications 6K Series Command Reference Parker Hannifin Corporation Electromechanical Automation Division part number 88 017136 01 6K Series Programmer s Guide Parker Hannifin Corporation Electromechanical Automation Division part number 88 017137 01 Ethernet Networking for 6K and Gem6K Parker Hannif...

Page 5: ...ent while it is in operation This product is sold as a motion control component to be installed in a complete system using good engineering practice Care must be taken to ensure that the product is installed and used in a safe manner according to local safety laws and regulations In particular the product must be positioned such that no part is accessible while power may be applied This and other ...

Page 6: ...B supersedes documents 88 017547 01A Changes associated with the 6K Hardware Installation Guide and document clarifications and corrections are as follows Topic Description Ship Kit Corrected Ship Kit part numbers Servo Tuning Updated the servo tuning procedure Encoder Schematic Updated connector schematic EVM32 family Added EVM ll SIM8 OUT SSR and SIM8 OUT HCR www comoso com ...

Page 7: ...o consider before you install your 6K controller 2 Product ship kit list 3 General specifications table 4 Dimensions and mounting guidelines 6 Connecting all electrical components includes specifications 8 Testing the installation 34 Preparing for what to do next 35 www comoso com ...

Page 8: ... 485 connector as an RS 485 serial port default function is RS 232 and configured for connection to an RP240 4 Mount the 6K controller see page 6 5 Connect all electrical system components see pages 8 33 Installation instructions for the EVM32 expansion I O are provided on page 45 6 Test the installation see page 34 7 Mount the motors and or couple the loads 8 Tune any servo axes or axes using the...

Page 9: ...1 The panel mounting kit part number 74 018177 01 which includes two mounting brackets and four screws 6 32 x is included with all 6K shipments independent of the 6K KIT NOTE If an Item is missing call the factory see phone numbers on the inside front cover Optional Accessories Part Name Part Number Drive cable to Parker step direction drives 10 foot 71 016137 10 Drive cable to 10V drives 10 foot ...

Page 10: ...p of 6K chassis Trigger inputs TRIGGERS OUTPUTS connectors Voltage range 0 24 VDC Factory default is sourcing current voltage reference is 24 VDC To make all trigger inputs sink current connect the TRIG P terminal to the GND terminal see connector on top of 6K chassis Master trigger input MASTER TRIG same specification as the rest of the trigger inputs Drive Fault input pin 5 on DRIVE connectors V...

Page 11: ...troller s enclosure While handling the 6k controller s printed circuit assemblies be sure to observe proper grounding techniques to prevent electrostatic discharge ESD DIP Switch RS 485 2 Wire RS 485 4 Wire RS 232 8 2 wire RS 485 ON OFF OFF 7 4 wire RS 485 OFF ON OFF 6 Reserved OFF OFF OFF 5 Enable RS 485 ON ON OFF 4 120Ω Rx termination resistor ON ON OFF 3 120Ω Tx termination resistor ON ON OFF 2...

Page 12: ...6 6K Hardware Installation Guide 6K Series Dimensions Mounting Dimensions 6K2 6K4 6K6 6K8 www comoso com ...

Page 13: ...sis Fan cooling may be necessary if adequate air flow is not provided Humidity Keep below 95 non condensing Airborne Contaminants Liquids Particulate contaminants especially electrically conductive material such as metal shavings and grinding dust can damage the 6K No not allow liquids or fluids to come in contact with the 6K or its cables Mounting Option DIN Rail Mounting Option Brackets brackets...

Page 14: ...n necessary for pull up to 24 VDC See page 20 CNTRL P Pull up for drive fault inputs No connection necessary for pull up to 24 VDC See page 10 and 15 GND Isolated logic ground MASTER TRIG Master Trigger Input See page 10 OUT DIODE The 6K is shipped from the factory with this pin connected to 24 VDC power with an external jumper this uses the internal flyback diode for onboard outputs that are driv...

Page 15: ...ler is shipped from the factory with the ENABLE input jumpered to ground thus allowing motion out of the box for bench testing purposes Use the diagram below as a guide for connecting the ENABLE input according to your application s needs www comoso com ...

Page 16: ...10 6K Hardware Installation Guide Drives Servo 10V Drives DRIVES connectors Internal Schematics Drive Cable Maximum recommended length is 15 feet 4 56 m Use 22 AWG wire www comoso com ...

Page 17: ...VE1 this output is internally connected to COM see schematic above 8 SHTNC OUT Gray Shutdown relay output to drives that require a closed contact to disable the drive The shutdown relay is active disabling the drive when no power is applied to the 6K When the 6K is powered up the shutdown relay remains active until you issue the DRIVE1 command to the axis Max rating 175 VDC 0 25A 3W Shutdown activ...

Page 18: ...T Drive I O 16 GND Drive 13 GND Drive I O 17 GND Drive 13 ENABLE Drive I O 21 SHUTDOWN Drive 11 CONNECTIONS TO THE BD E DRIVE BD E Drive Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin V2 User I O 1 CMD Drive 6 V1 User I O 2 CMD Drive 3 GND User I O 4 GND Encoder 9 RST User I O 5 COM Drive 14 15V User I O 6 SHTNO Drive 7 SHTNC Drive 8 FT User I O 9 DFT Drive 5 AOP Us...

Page 19: ...coder 9 CONNECTIONS TO THE DYNASERV DRIVE Dynaserv Drive Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin A DN1 13 A Encoder 2 V1 DN1 14 A Encoder 3 SRVON DN1 23 SHTNO Drive 7 VCC DN1 24 5V Encoder 1 B DN1 29 B Encoder 4 B DN1 30 B Encoder 5 Z DN1 43 Z Encoder 6 Z DN1 44 Z Encoder 7 VIN DN1 49 CMD Drive 3 AGND DN1 50 AGND Drive 15 COM Drive 14 GND Encoder 9 NOTE The D...

Page 20: ...r Pin Com CN1 1 5V Encoder 1 Servo On CN1 5 SHTNO Drive 7 A CN1 17 A Encoder 2 B CN1 19 B Encoder 4 Z CN1 21 Z Encoder 6 Agnd TQ CN1 22 CMD Drive 6 Vin TQ CN1 23 CMD Drive 3 Agnd VEL CN1 24 CMD Drive 6 Vin VEL CN1 25 CMD Drive 3 Com CN1 26 AGND Drive 15 Ready CN1 31 DFT Drive 5 A CN1 41 A Encoder 3 B CN1 43 B Encoder 5 Z CN1 45 Z Encoder 7 COM Drive 14 GND Encoder 9 NOTE The Linearserv s default s...

Page 21: ...M Drive 14 FAULT OUTPUT X10 15 DRIVE FLT Drive 5 24V OUT X10 9 SHTNO Drive 7 ENABLE GND 24V OUT GND X10 X10 8 10 Short these terminals together 24V IN GND for 24V X10 X10 14 16 External 24VDC Power Supply The SHTNO relay output is active disabling the drive when no power is applied to the 6K When the 6K is powered up the shutdown relay remains active until you issue a DRIVE1 command to the axis NO...

Page 22: ...Cable Shield GND 10 CONNECTIONS TO THE Vix DRIVE Vix Drive Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin ANA1 IN X4 1 CMD Drive 3 ANA1 IN X4 2 CMD Drive 6 COM Drive 14 0V X4 3 GND Drive 13 ENABLE X4 11 SHTNO Drive 7 FAULT OUTPUT X4 6 DRF Drive 5 ENC A OUT X4 14 A Encoder 2 ENC A OUT X4 9 A Encoder 3 ENC B OUT X4 15 B Encoder 4 ENC B OUT X4 10 B Encoder 5 ENC Z OUT ...

Page 23: ...Chapter 1 Installation 17 Drives Step Direction Drives DRIVES connectors INTERNAL SCHEMATICS Drive Cable Maximum recommended length is 50 feet 15 24 m Use 22 AWG wire www comoso com ...

Page 24: ...t Low signal on Direction specifies motion in the positive direction High signal on direction specifies motion in the negative direction 11 Shutdown OUT Differential output This signal is used to turn off current in the motor windings High signal on Shutdown indicates the motor winding current should be off Signal levels Low 1 0 VDC 30 mA High 3 5 VDC 30 mA 12 Shutdown OUT Differential output This...

Page 25: ...nections Signal Name Connector Pin Signal Name Connector Pin Step DN1 45 Step Drive 1 Step DN1 46 Step Drive 9 Direction DN1 20 Direction Drive 2 Direction DN1 19 Direction Drive 10 Servo On DN1 23 Shutdown Drive 11 Servo On DN1 24 Shutdown Drive 12 Servo Ready DN1 15 Drive Fault Drive 5 Servo Ready DN1 16 Ground Drive 13 A DN1 13 A Encoder 2 A DN1 14 A Encoder 3 B DN1 29 B Encoder 4 B DN1 30 B En...

Page 26: ...5 Z OUT CN4 13 Z Encoder 6 Z OUT CN4 14 Z Encoder 7 COMPN1 CN4 2 GND Encoder 9 CONNECTIONS TO THE EAC EDC OEM750 S PDS and ZETA DRIVES Drive Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin Step 25 pin 1 Step Drive 1 Step 25 pin 14 Step Drive 9 Direction 25 pin 2 Direction Drive 2 Direction 25 pin 15 Direction Drive 10 Shutdown 25 pin 16 Shutdown Drive 11 Shutdown 25 ...

Page 27: ...Position Mode for accepting step and direction command signals Refer to your Linearserv user guide for verification CONNECTIONS TO THE OEM670SD DRIVE OEM670SD Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin Step 25 pin 3 Step Drive 1 Step 25 pin 14 Step Drive 9 Direction 25 pin 4 Direction Drive 2 Direction 25 pin 15 Direction Drive 10 Shutdown 25 pin 12 Shutdown Dri...

Page 28: ... 0V X4 3 COM Drive 14 ENABLE X4 11 GND Drive 13 ENC A IN X4 12 SHTNO Drive 7 ENC A IN X4 7 STEP Drive 1 ENC B IN X4 8 STEP Drive 9 ENC B IN X4 13 DIRECTION Drive 10 FAULT OUTPUT X4 6 DIRECTION Drive 2 ENC A OUT X4 14 DRF Drive 5 ENC A OUT X4 9 A Encoder 2 ENC B OUT X4 15 A Encoder 3 ENC B OUT X4 10 B Encoder 4 ENC Z OUT X4 5 B Encoder 5 www comoso com ...

Page 29: ...vels Low 0 4V High 2 4V Maximum input voltage is 5 VDC MASTER ENCODER The master encoder is used for Following and not for servo feedback or stepper stall detect The pin outs are the same as the other encoders except that pin 8 is ISO GND can t use a single ended encoder NOTE When connecting a HJ single ended encoder to the 6K be sure to connect the encoder s white lead channel A to pin 2 A The cu...

Page 30: ... you can connect a different voltage to the VINref terminal To make all limit inputs sinking inputs connect the LIM P terminal to the GND terminal Status Check with TLIM or LIM Active level is set with the LIMLVL command Default is active low end of travel limits which require a n c switch and home limits which require a n o switch NOTES Motion will not occur on an axis until you do one of the fol...

Page 31: ...e range is 0 24 VDC Trigger input switching levels Low 1 3 VINref voltage High 2 3 VINref voltage factory default VINref voltage is 24 VDC but you can connect a different voltage to the VINref terminal To make all limit inputs sinking inputs connect the TRIG P terminal to the GND terminal Status Check with TIN or IN Programmable functions with the INFNC command Can also be used as a Trigger Interr...

Page 32: ...utput wire an external resistor between the trigger input and GND The resistor provides a path for current to flow from the device when the output is active Programming Tip If connecting to sinking output set the trigger s INLVL setting to active low INLVL0 If connecting to a sourcing output set the trigger s INLVL setting to active high INLVL1 Thus when the output is active the TIN IN status will...

Page 33: ...tting to active high OUTLVL1 If connecting to an active low sourcing input set the output s OUTLVL setting to active low OUTLVL0 Thus when the 6K s output is activated current will flow through the attached input and the TOUT OUT status will report a 1 indicates the output is active regardless of the type of input that is connected www comoso com ...

Page 34: ...cate to first is the only one that is recognized until you cycle power You can communicate to the Ethernet port or the RS 232 port COM1 while the 6K is also communicating with an RP240 via the RS 232 485 port COM2 Ethernet Port RS 232 485 COM2 port Set up for use with an RP240 configurable for RS 485 or as the primary RS 232 port RS 232 COM1 port Set up for use as the primary RS 232 port configura...

Page 35: ...solate ground Connect to GND on your computer Ethernet Communication NOTES Status LEDs Green LED is on when the Ethernet physical connection is OK Yellow LED is on when the 6K is transmitting over the Ethernet interface Connect to a standard 10Mbps Ethernet card IP address default is 192 168 10 30 To change the IP address use the NTADDR command To ascertain the Ethernet address use the TNTMAC comm...

Page 36: ...D A Maximum RS 485 cable length is 4000 feet 1220 meters To establish unique addresses for multi drop units use the ADDR command Use termination resistors at both ends of the multi drop Keep stubs as short as possible Recommended cables 2 wire Belden 9841 4 wire Belden 9842 Refer to the diagrams below or page 5 for necessary DIP switch settings for 2 wire and 4 wire configuration 4 Wire Connection...

Page 37: ...Chapter 1 Installation 31 2 Wire Connections plus ground www comoso com ...

Page 38: ...ted DRPCHK1 On power up check for RP240 on COM1 NOTE Refer to the Model RP240 User Guide for RP240 specifications and mounting instructions Expansion I O The 6K product allows you to expand your system I O by connecting up to eight EVM32 expansion I O bricks EVM32 bricks are sold separately from the 6K controller Each I O brick can hold from 1 to 4 of these I O SIM modules in any combination Digit...

Page 39: ... 5A 24 VDC For each encoder Add 1 5 Watts For each output Add 7 5 Watts up to 300 mA output For example a 6K4 with 4 encoders connected and 4 digital outputs 300 mA 224 VDC requires 60 Watts of power The PS 60W is an optional power supply which can be ordered separately It provides 60 Watts of power 2 5A 25VDC www comoso com ...

Page 40: ... and A connections 3 When finished enter the K ctrl K command to stop the continuous report back TPE response encoder counts encoder1 encoder1 Direction of rotation Trigger Inputs 1 Open the trigger input switches or turn off the device driving the inputs 2 Enter the TIN command Response should be TINØØØØ_ØØØØ_Ø or TINØØØØ_ØØØØ_ØØØØ_ØØØØ_Ø 3 Close the trigger input switches or turn on the device d...

Page 41: ... Test the installation see page 34 Next 1 Mount the motors and or couple the loads 2 Tune any servo axes or axes using the ZETA drive Use the tuning facility in Motion Planner see page 59 And Finally After completing all necessary hardware installation tasks you are ready to program your motion control functions Knowing your system s motion control requirements refer now to the 6K Series Programme...

Page 42: ... T W O Troubleshooting Chapter 2 Troubleshooting IN THIS CHAPTER Troubleshooting basics 37 Solutions to common problems 38 Resolving RS 232 RS 485 communication problems 42 Product return procedure 43 www comoso com ...

Page 43: ... related Can you repeat or re create the problem Random events may appear to be related but they are not necessarily contributing factors to your problem You may be experiencing more than one problem You must isolate and solve one problem at a time Log document all testing and problem isolation procedures You may need to review and consult these notes later This will also prevent you from duplicat...

Page 44: ...s not move in the commanded direction 2 Switch A with A connection from drive to motor SOFTWARE ALTERNATIVE If the motor and the encoder if one is used is reversed use the CMDDIR1 command to reverse the polarity of both the commanded direction and the polarity of the encoder counts 3 Phase of encoder reversed reported TPE direction is reversed 3 Swap the A and A connection at the ENCODER connector...

Page 45: ...s using the PULSE command 3 Wrong scaling values 3 Check the scaling parameters SCALE1 SCLA SCLD SCLV SCLMAS Erratic operation 1 Electrical Noise 1 Reduce electrical noise or move product away from noise source 2 Improper shielding 2 Shield for noise immunity 3 Improper wiring 3 Check wiring for opens shorts mis wired connections Feedback device encoder or ANI counts missing 1 Improper wiring 1 Ch...

Page 46: ...ove load off of limits or disable limits by sending the LHØ command to the affected axis 2 b Software limits Set LSPOS to a value greater than LSNEG 3 Step pulse too narrow for drive to recognize stepper axes only 3 Set pulse width to drive specifications using the PULSE command 4 Drive fault level incorrect 4 Set drive fault level using the DRFLVL command 5 Improper wiring 5 Check drive fault lim...

Page 47: ...or valve NOTE The CMD Connection is not differential Do not connect CMD to ground on your drive Torque loss of 1 Improper wiring 1 Check wiring to the drive as well as other system wiring 2 No power to drive 2 Check power to drive 3 Drive failed 3 Check drive status 4 Drive faulted 4 Check drive status 5 Shutdown issued to drive 5 Re enable drive by sending the DRIVE1 command to the affected axis ...

Page 48: ...ith the E1 command RS 232 Echo may be disabled enable with the ECHO1 command If you are using an RS 232 connection between the host computer and the master 6K connected to multiple 6Ks in an RS 485 multi drop make sure the master 6K has these settings executed in the order given you should place these settings in your power up STARTP program PORT1 select RS 232 port COM1 for configuration ECHO3 ec...

Page 49: ...for return How long did it operate Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system environment temperature enclosure spacing con...

Page 50: ...s for the I O on the 25 pin connectors which are the TRIGGERS OUTPUTS and LIMITS HOME connectors The VM25 comes with a 2 foot cable that provides easy connection between the VM25 and the 6K s 25 pin connector The VM25 is ordered separately part number is VM25 www comoso com ...

Page 51: ...ard 8 inputs Color code RED SIM8 OUT NPN Digital output SIM board 8 outputs sinking Color code BLUE SIM8 OUT PNP Digital output SIM board 8 outputs sourcing Color code BLUE SIM8 OUT SSR Solid State Relay SIM board 8 outputs Color code BLUE SIM8 OUT HCR High Current Relay SIM board 8 outputs Color code BLUE SIM8 AN IN Analog 10V input SIM board 8 inputs Color code GREEN SIM8 AN OUT Analog 10V outpu...

Page 52: ...ault LED state is off The LED illuminates when the voltage at the input is at least 2 3 V volts If sourcing jumper in position 3 the default LED state is on The LED goes off when the voltage at the input is below 1 3 V volts Reed Relay Outputs SIM8 OUT RLY10 OBSOLETE replaced by SIM8 OUT SSR and SIM8 OUT HCR Current rating Maximum of 10 Watts Switching voltage to 200 VDC or 200 VAC peak resistive ...

Page 53: ...ting Maximum of 100 mA Operate On time Typical 0 1 ms at 50 mA Load 100V Release time Typical 0 11 ms at 50 mA Load 100V On state resistance 24 Ohms pulsed 50 ma Load Off state resistance 10 10 Ohms Capacitance 6 pF at 50V Status Check with the TIO command LED is on when the relay is energized Technology Power MOSFET Photovoltaic Relay Single Pole Normally Open Bounce Free Operation High Current R...

Page 54: ...48 6K Hardware Installation Guide EVM32 Dimensions 6 330 160 78 3 991 101 37 2 189 55 60 2 244 57 00 4 110 104 39 www comoso com ...

Page 55: ...Appendix B EVM32 Installation 49 EVM32 ll Dimensions www comoso com ...

Page 56: ...static sensitive Observe proper ESD handling precautions Remove power to the EVM32 baseboard before installing or removing the SIM boards Step 2 Install the SIM boards Snap into place 1 3 2 Notch SIM Slot Notch SIM 2 I O points 9 16 SIM 3 I O points 17 24 SIM 4 I O points 25 32 SIM 1 I O points 1 8 www comoso com ...

Page 57: ...abel SIM8 IN EVM32 digital inputs Red 8 IN SIM8 OUT NPN digital outputs sinking Blue 8 OUT NPN SIM8 OUT PNP digital outputs sourcing Blue 8 OUT PNP SIM8 OUT RLY10 reed relay outputs Blue RELAY SIM8 OUT SSR Solid State Relay Blue RELAY SIM8 OUT HCR High Current Relay Blue RELAY SIM8 AN IN analog inputs Green ANALOG IN SIM8 AN OUT analog outputs Black ANALOG OUT www comoso com ...

Page 58: ...O brick the controller checks to see if anything changed SIM by SIM from the state when it was disconnected If an existing SIM slot is changed different SIM vacant SIM slot or jumper setting the controller will set the digital input SIMs and digital output SIMs to factory default INEN and OUTLVL settings respectively If a new SIM is installed where there was none before the new SIM is auto configu...

Page 59: ... Installation 53 Jumpers The EVM32 1l includes jumpers for terminating the DATA and ATTN lines on the last I O brick in a chain The following equivalent diagram applies to JU5 and JU6 24 VDC power input www comoso com ...

Page 60: ...UT RLY10 Electronic Device Input External Supply 12 to 24VDC EVM32 Return Use the GND pin for the corresponding output pin When using the Relay SIM the GND terminals are not internally connected together Output Connection V J1 GND Iso GND LED N O www comoso com ...

Page 61: ...0 1 K9 20 0 K9 18 2 K9 Iso GND Iso GND Iso GND External Supply 12 to 24VDC Interrelationships Active Level Jumper Selection Switch Voltage at Input LED IN TIN TIO Report INLVL0 active low Position 3 sourcing Open 2 3 of V On 0 INLVL0 active low Position 3 sourcing Closed 1 3 of V Off 1 INLVL1 active high Position 3 sourcing Open 2 3 of V On 1 INLVL1 active high Position 3 sourcing Closed 1 3 of V ...

Page 62: ... the 8 output channels Caution If the power supply voltage for the remote device to which the outputs are connected is greater than the power supply voltage for the EVM32 do not use the fly back diodes NPN JU1 Move the jumper to the left hand position to use internal fly back diodes NPN JU1 Factory default jumper position is no connect no internal diodes used External Diodes Use an external diode ...

Page 63: ...Appendix B EVM32 Installation 57 Solid State Relay Outputs SIM8 OUT SSR High Current Relay Outputs SIM8 OUT HCR www comoso com ...

Page 64: ...ation Guide Analog Inputs SIM8 AN IN Analog Outputs SIM8 AN OUT Electronic Device External Supply 24VDC only EVM32 Ground Connection Analog Output Connection 10V V J1 GND Iso GND Iso GND 5mA max 2K9load LM324A www comoso com ...

Page 65: ...dow Click on the Tuner window tab to bring the servo tuning utility to the front 2 Click the Start button to send the pre programmed step output to the drive Notice that the graph display draws the commanded and actual velocity profiles so that you can graphically tune your servo system Optimize the proportional SGP and velocity SGV values by iteratively changing gains and viewing the results on t...

Page 66: ...ain commands at the location of the cursor Use the ctrl V keystroke shortcut or use the Paste command from the Edit pull down menu NOTE The tuning gains are specific to the feedback source selection in effect at the time the gain commands are executed The factory default feedback source selected with the SFB command is encoder feedback The illustration below demonstrates where to insert the gain c...

Page 67: ...Appendix C Servo Tuning 61 These tuning gains are specific to encoder feedback SFB1 1 These tuning gains are specific to analog input feedback SFB2 2 www comoso com ...

Page 68: ... gain sets can be saved and enabled at any point in a move profile allowing different gains at different points in the profile SFB Selects the servo feedback device encoder or analog input To use analog input feedback you must first use the ANIFB command to configure the targeted analog input to be used for feedback Important Parameters for scaling tuning gains max position error SMPER and positio...

Page 69: ...n EVM32 47 58 dimensions 6K6 DIN rail mount 7 diode for outputs 27 drive connections servo 10V 10 step direction 17 drive fault input 11 18 Dynaserv drive connections servo 13 step direction 19 Dynaserv GE drive connections servo 14 step direction 20 EAC drive connections 20 EDC drive connections 20 electrical connections See connections electrical noise guidelines 2 enable input 9 encoder resolut...

Page 70: ...connections 30 DIP switches accessing setting 5 S drive connections 20 safety stop switch enable input 9 schematics internal See connections screw terminal adapter 45 servo tuning 61 ship kit 3 EVM32 47 SIM boards EVM32 47 SIM8 AN IN 47 SIM8 IN 47 SIM8 OUT EVM32 47 sizing your power supply 6K 33 solid state relay outputs on EVM32 59 solutions to common problems 39 specifications environmental 6K 7...

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