16
6K Hardware Installation Guide
PIN OUTS & SPECIFICATIONS — STEPPER DRIVES ONLY
(15-pin “DRIVE” connectors)
Pin
* Name
In/Out
Description
1
Step +
OUT
Differential output. Step (pulse) output to the drive. Step + signal is active high.
Signal levels: Low
≤
1.0VDC @ -30mA, High
≥
3.5VDC @ +30mA.
2
Dir
OUT
Differential output. High signal on Dir specifies motion in the positive direction; Low signal on
dir specifies motion in the negative direction.
Signal levels: Low
≤
1.0VDC @ -30mA, High
≥
3.5VDC @ +30mA.
4
Stall
IN
Encoder-less Stall Detection input for use with the GEMINI drive.
5
DFT
IN
Drive fault input. Set active level with the
DRFLVL
command (default is active low). The drive fault input
will not be recognized until you send a
DRFEN1
command (enables the input) to the axis. Voltage range
for the DFT input is 0-24V. Switching levels: Low
≤
1/3 VINref voltage, High
≥
2/3 VINref voltage (factory
default VINref voltage is +24VDC, but you can connect a different voltage to the VINref terminal**). To
make DFT a sinking input, connect the CNTRL-P terminal** to the GND terminal**.
9
Step –
OUT
Differential output. Step (pulse) output to the drive. Step – signal is active low.
10
Direction –
OUT
Differential output. Low signal on Direction – specifies motion in the positive direction; High signal on
direction – specifies motion in the negative direction.
11
Sh OUT
Differential output. This signal is used to turn off current in the motor windings.
High signal on Sh indicates the motor winding current should be off.
Signal levels: Low
≤
1.0VDC @ -30mA, High
≥
3.5VDC @ +30mA.
12
Shutdown –
OUT
Differential output. This signal is used to turn off current in the motor windings.
Low signal on Shutdown – indicates the motor winding current should be off.
13
ISO GND
-----
Isolated logic ground.
* Pin 3-4, 6-8, and 15 are reserved for connection to a
±
10V analog servo drive (see page 10).
** The VINref, CNTRL-P, and GND terminals are located on the screw-terminal connector on top of the 6K chassis.
CONNECTIONS TO THE ZETA, S, OEM750 and PDS DRIVES
Drive Connections
6K Connections
Signal Name
Connector
Pin
Signal Name Connector
Pin
Step +
25-pin
01
↔
Step +
DRIVE
01
Step –
25-pin
14
↔
Step –
DRIVE
09
Dir
25-pin
02
↔
Dir
DRIVE
02
Direction –
25-pin
15
↔
Direction –
DRIVE
10
Sh
25-pin
16
↔
Sh
DRIVE
11
Shutdown –
25-pin
17
↔
Shutdown –
DRIVE
12
Fault Output
25-pin
09
↔
Drive Fault
DRIVE
05
Fault Return
25-pin
21
↔
Ground
DRIVE
13
NOTES:
•
The PDS drive requires a
PULSE
command setting of 1.0 (
PULSE1.0
).
•
Use the 10-foot cable (p/n 71-016137-10) for plug compatibility.
