Parker Compumotor AT6200, Installation Manual

Page: 10 / 45

Chapter 1. Installation
3
General Specifications
P a r a m e t e r S p e c i f i c a t i o n
Power
AT6n00 PC Card...................................................... 5VDC @ 1.8A from the PC-AT bus
AT6200 AC AUX Board (AC or DC input) ............. 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or connect an external power
source (5VDC
±
5% @ 1.6A) to a +5V terminal on the
AUXILIARY
connector
AT6400-120V AUX Board (AC or DC input).......... 90-132VAC, 50/60Hz, 1.5A @120VAC, single-phase; or connect an external power source
(5VDC
±
5% @ 1.6A) to a +5V terminal on the
AUXILIARY
connector
AT6400-240V AUX Board (AC or DC input).......... 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or connect an external power
source (5VDC
±
5% @ 1.6A) to a +5V terminal on the
AUXILIARY
connector
AT6n00-DC AUX Board ......................................... +5VDC (
±
5%) @ 1.6A
Status LEDs/fault detection...................................... Refer to Status LEDs in Chapter 2
Environmental
Operating Temperature .......................................... 32-122
°
F (0-50
°
C)
Storage Temperature............................................... -22-185
°
F (-30-85
°
C)
Humidity ................................................................... 0-95% non-condensing
Performance
Position Range .........................................................
±
2,147,483,648 steps
Velocity Range ......................................................... 1-1,600,000 steps/sec
Acceleration Range.................................................. 1-24,999,975 steps/sec
2
Stepping Accuracy ...................................................
±
0 steps from preset total
Velocity Accuracy ...................................................
±
0.02% of maximum rate
Velocity Repeatability .............................................
±
0.02% of set rate
Motion Algorithm Update Rate................................ 2 ms
Calculation to determine contouring deviation from an arc
(due to straight-line approximation to a curve):
Error in steps =
(
Vp
∗
t
2
)
2
r
Where:
Vp
= steps/sec,
r
= radius in steps,
t
= system update period (2 msec)
Inputs ALL INPUTS ARE OPTICALLY ISOLATED
Home, POS/NEG Limits, Trigger, P-CUT ............ HCMOS compatible*; internal 6.8 K
Ω
pull-ups to AUX-P terminal (wired at factory to +5V);
voltage range is 0-24V.
Joystick inputs: Axes Select, Velocity Select, ...... HCMOS-compatible*; internal 6.8 K
Ω
pull-ups to 5V; voltage range is 0-24V.
Trigger, Release, & Auxiliary
Drive Fault and In-Position...................................... HCMOS-compatible*; internal 1.0 K
Ω
pull-up to 5V; voltage range is 0-5V.
Analog (joystick connector)..................................... Voltage range = 0-2.5VDC, 8-bit A/D converter.
Input voltage must not exceed 5V.
Encoder..................................................................... Differential comparator accepts two-phase quadrature incremental encoders with
differential (recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low
≤
0.4V, High
≥
2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
24 General-Purpose Programmable ..................... HCMOS compatible* with internal 6.8 K
Ω
pull-ups to IN-P terminal (wired to +5V terminal
at factory). Voltage range = 0-24V. 50-pin plug is compatible with OPTO-22™ signal
conditioning equipment.
Outputs ALL OUTPUTS ARE OPTICALLY ISOLATED
24 General-Purpose Programmable ...................... Open collector output with 4.7 K
Ω
pull-ups. Can be pulled up by connecting OUT-P to +5V,
or to user-supplied voltage of up to 24V. Max. voltage in the OFF state (not sinking
current) = 24V, max. current in the ON state (sinking) = 30mA.
50-pin plug is compatible
with OPTO-22™ signal conditioning equipment.
Step, Direction, Shutdown ....................................... Differential line driver output. Signal high
≥
3.5VDC @ +30mA, signal low
≤
1.0VDC @
-30mA.
+output
for each differential driver is active high;
-output
for each driver is active
low. Step pulse width range is 0.3
µ
s to 20
µ
s (depends on the value of the
PULSE
command—default is 0.3
µ
s).
+5V Output................................................................ +5V terminals are available on the
ENCODER
and
AUXILIARY
connectors. Load limit (total
load for all I/O connections): 1.5A for the AT6400-120, 1.0A for the AT6400-240 and the
AT6200 AC version. Load limit for the DC versions of the AUX boards depends on your
ex5V power supply.
* HCMOS-compatible switching voltage levels: Low
≤
1.00V, High
≥
3.25V.
TTL-compatible switching voltage levels: Low
≤
0.4V, High
≥
2.4V.