20
6K Hardware Installation Guide
Limit Inputs
(“LIMITS/HOME” connectors)
LIMITS/HOME
Connector
VINref
20.0 K
18.2 K
Internal Schematic
LM339
24VDC
LIM-P Terminal
VINref is +24VDC, unless
you connect an external
5-24VDC supply to the
VINref terminal.
12.0 K
6.8 K
33.0 K
33.0 K
By default, the limit inputs are sourcing inputs.
If you wish all of the limit inputs to sink current, connect
"LIM-P" to "GND" on the screw-terminal connector
located on top of the 6K chassis.
Connections shown
for one axis
GND (even # pin)
Home Input
End-of-Travel Input
End-of-Travel Input
ISO GND
All end-of-travel
and home inputs
have the same
circuit design.
ISO GND
1
14
25
13
PIN OUTS & SPECIFICATIONS
Pin #
In/Out
Axes 1-4 Axes 5-8 Description (input functions programmed by
LIMFNC
)
Specification for limit inputs
25
23
21
19
17
15
13
11
9
7
5
3
1
-----
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
-----
1POS
1NEG
1HOME
2POS
2NEG
2HOME
3POS *
3NEG *
3HOME *
4POS *
4NEG *
4HOME *
-----
5POS
5NEG
5HOME
6POS
6NEG
6HOME
7POS *
7NEG *
7HOME *
8POS *
8NEG *
8HOME *
RESERVED
Positive direction end-of-travel limit, axis 1 or 5.
Negative direction end-of-travel limit, axis 1 or 5.
Home limit, axis 1 or 5.
Positive direction end-of-travel limit, axis 2 or 6.
Negative direction end-of-travel limit, axis 2 or 6.
Home limit, axis 2 or 6.
Positive direction end-of-travel limit for axis 3 or 7.
Negative direction end-of-travel limit for axis 3 or 7.
Home limit, or general purpose input for axis 3 or 7.
Positive direction end-of-travel limit for axis 4 or 8.
Negative direction end-of-travel limit for axis 4 or 8.
Home limit for axis 4 or 8.
•
Voltage range is 0-24VDC.
•
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 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.
All even number pins are connected to isolated logic ground.
* On 6K2 and 6K6 products, these pins function as general-purpose inputs (function is set with the
LIMFNCi-A
command).
** The VINref, LIM-P, and GND terminals are located on the screw-terminal connector on top of the 6K chassis.
NOTES
•
Motion will not occur on an axis until you do one of the following:
- Install end-of-travel limit switches
- Disable end-of-travel limits with the
LHØ
command (only if load not coupled)
- Change the active level of the limits with the
LIMLVL
command.
•
End-of-travel input functionality: Mount each switch such that the load forces it to open
before it reaches the physical travel limit (leave enough room for the load to stop).
When the load opens the switch, the axis stops at the
LHAD
deceleration. The motor
will not be able to move in that same direction until you execute a move in the
opposite direction and clear the limit by closing the switch.
•
Home input functionality: After initiating a homing move with the
HOM
command, the
6K waits for the home input switch to close, indicating the load has reached the
desired “home” reference position.
•
Refer to the Basic Operation Setup chapter in the 6K Series Programmer’s Guide for
in-depth discussions about using end-of-travel limits and homing.
•
See page 41 for connections to the “VM25” screw-terminal converter (sold separately).
For easy screw-terminal
connections, use the “VM25”
screw-terminal converter (sold
separately, includes 2-foot
cable). Connection instructions
are provided on page 41.
