Parker Compumotor AT6200, Installation Manual

Page: 18 / 45

Chapter 1. Installation
1 1
End-of-Travel and Home Limit Inputs
N O T E S
• Motion will not occur on a particular axis until you do one of the following:
- Install end-of-travel (
POS
&
NEG
) limit switches
- Disable the limits with the
LHØ
command (recommended only if load is not coupled)
- Change the active level of the limits with the
LHLVL
command
• Refer to the Basic Operations Setup chapter in the 6000 Series Programmer's Guide for
in-depth discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
AUXILIARY
LIMITS
POS & NEG connected to GND (normally-closed switches).
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 decel
value set with the LHAD command. The motor will not be able to
move in that same direction until you clear the limit (close the
switch) and execute a move in the opposite direction (or you can
disable the limits with the LH command, but this is recommended
only if the motor is not coupled to the load). The active level
(default is active low) can be changed with the LHLVL command.
HOM connected to GND (normally-open switch).
The home limit input is used during a homing move, which is
initiated with the HOM command. After initiating the homing move,
the controller waits for the home switch to close, indicating that the
load has reached the “home” reference position. The active level
(default is active low) can be changed with the HOMLVL command.
Internal Schematic
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
1
HCMOS compatible:
Low
≤
1.00V; High
≥
3.5V
ISO GND
74HCxx
+5V
GND
+5V
OUT-P
IN-P
GND
AUX-P
P-CUT
GND
1
+5V connected to AUX-P (sourcing current).
Pr5V power to the POS, NEG, and HOM input pull-up
resistors. As an alternative, you can connect AUX-P to an external
power supply of up to 24VDC.
NOTE: AUX-P is also the pull-up for the P-CUT & TRG inputs.
SINKING CURRENT: To make these inputs sink current, connect
AUX-P to GND. +5VDC
ISO GND
74HCxx
74HCxx
74HCxx
74HCxx
74HCxx
6
.
8 K
Ω
Resistors
47 K
Ω
Resistors
Chassis
GND
PIN OUTS & SPECIFICATIONS
(9-pin LIMITS Connectors)
Pin # In/Out
Name,
Axes 1 & 2 Name,
Axes 3 & 4
Description
9
8
7
6
5
4
3
2
1
IN
IN
IN
—
IN
IN
IN
—
—
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
3POS
3NEG
3HOM
GND
4POS
4NEG
4HOM
GND
SHLD
Positive-direction end-of-travel limit input.
Negative-direction end-of-travel limit input.
Home limit input.
Isolated ground.
Positive-direction end-of-travel limit input.
Negative-direction end-of-travel limit input.
Home limit input.
Isolated ground.
Shield—Internally connected to chassis ground (earth).
Specification for all limit inputs
HCMOS compatible (voltage levels: Low
≤
1.00V, High
≥
3.25V); internal 6.8 K
Ω
pull-
ups to AUX-P terminal (AUX-P is wired at
factory to +5V); voltage range is 0-24V.
Active level for POS & NEG is set with the
LHLVL
command (default is active low,
requiring normally-closed switch).
Active level for HOM is set with the
HOMLVL
command (default is active low,
requiring normally-open switch).