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Parker Compumotor AT6200, Installation Manual

The Parker Compumotor AT6200 is a versatile motion control system, equipped with advanced features for precision and reliability. Ensure a seamless installation process with our comprehensive Installation Manual. Download the manual for free from manualshive.com, providing step-by-step instructions and valuable insights to optimize your experience with this exceptional product.

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A B O U T

 

T H I S

 

B O O K

Chapter 1. Installation

What You Should Have (ship kit).................................

 

2

Before You Begin ....................................................

 

2

Electrical Noise.................................................

 

2

Airborne Contaminants .......................................

 

2

General Specifications .............................................

 

3

Configuration/Customization—

Optional DIP Switch Settings

. .

  4

PC Card Installation .................................................

 

5

Mounting ...............................................................

 

6

System Electrical Connections ..................................

 

7

Grounding System.............................................

 

7

Verify Factory-Wired Connections ........................

 

8

AUX Board Cable...............................................

 

8

Pulse Cut-Off (P-CUT) — Emergency Stop Switch....

 

8

Motor Drivers....................................................

 

9

End-of-Travel and Home Limit Inputs ...................

 11

Encoders.......................................................

 12

Joystick & Analog Inputs  .................................

 13

Trigger Inputs .................................................

 14

General-Purpose Programmable Inputs & Outputs . 15
Input Power....................................................

 19

Lengthening I/O Cables ....................................

 20

Installation Test ....................................................

 21

What's Next?........................................................

 22

Chapter 2. Troubleshooting

Troubleshooting Basics...........................................

 24

Reducing Electrical Noise ..................................

 24

Diagnostic LEDs ..............................................

 24

Test Program ..................................................

 24

Motion Architect's Panel Module .........................

 25

Technical Support ............................................

 25

Common Problems & Solutions .................................

 25

Problem/Cause/Solution Table............................

 25

Interrupt & Address Selection.............................

 27

Downloading Errors (downloading the operating

system) ...................................................

 27

Product Return Procedure .......................................

 28

Appendix A:  

CE Installation Guide..................

 29

I n d e x

...............................................................

 35

Purpose of This Book

This book describes how to install and troubleshoot the AT6200 and AT6400 hardware.
Programming related issues are covered in the 6000 Series Programmer's Guide and the 6000
Series Software Reference.

“ A T 6 n 0 0 ”

Hereafter, the AT6200 and AT6400 are referred to collectively as the “AT6n00.”

What You Should Know

To install and troubleshoot the AT6n00, you should have a fundamental understanding of:

• IBM PC-compatible computer hardware and software operations
• Basic electronics concepts (such as voltage, switches, current, etc.)
• Basic motion control concepts (such as torque, velocity, distance and force)

Related Publications

• 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division;

part number 88-012966-01

• 6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division;

part number 88-014540-01

• Current Parker Compumotor Motion Control Catalog
• Operations user guide for the IBM-compatible PC-AT computer
• Schram, Peter (editor).  The National Electric Code Handbook  (Third Edition).  Quincy,

MA:  National Fire Protection Association

Summary of Contents for Compumotor AT6200

Page 1: ...nt Service Center Repairs Experienced Engineers and Technicians on staff in our State of the art Full Service In House Service Center Facility InstraView Remote Inspection Remotely inspect equipment before purchasing with our Innovative InstraView website at http www instraview com We bUy used equipment We also offer credit for Buy Backs and Trade Ins Sell your excess underutilized and idle used e...

Page 2: ... U T S J O Y S T I C K AUXILIARY 3POS 3NEG 3HOM GND 4POS 4NEG 4HOM GND SHLD ENCODER 4 TRIGGERS STATUS TRG A GND TRG B GND TRG C GND TRG D GND SHLD ENCODER 3 LIM 3 4 5V GND 5V OUT P IN P GND AUX P P CUT GND ENCODER 2 SHLD GND Z Z B B A A 5V SHLD GND Z Z B B A A 5V SHLD GND Z Z B B A A 5V SHLD GND Z Z B B A A 5V ENCODER 1 LIM 1 2 1POS 1NEG 1HOM GND 2POS 2NEG 2HOM GND SHLD GREEN READY RED NOT READY O...

Page 3: ...t in damage to equipment and or serious injury to personnel North America and Asia Compumotor Division of Parker Hannifin 5500 Business Park Drive Rohnert Park CA 94928 Telephone 800 358 9070 or 707 584 7558 Fax 707 584 3793 FaxBack 800 936 6939 or 707 586 8586 BBS 707 584 4059 e mail tech_help cmotor com Internet http www compumotor com Europe non German speaking Parker Digiplan 21 Balena Close P...

Page 4: ...requirement for the AT6n00 PC card was changed from 3 5A to 1 8A The current requirement for the AT6200 AC Auxiliary board and the AT6400 240 AC Auxiliary board was changed from 0 3A to 75A Drive Connections Addition Diagrams were added to show how to connect to Linearserv Dynaserv Zeta S OEM650 and PDS drives Deletion The diagram showing how to connect to the PK2 drive was removed Encoder Connect...

Page 5: ......

Page 6: ...ating system 27 Product Return Procedure 28 Appendix A CE Installation Guide 29 Index 35 Purpose of This Book This book describes how to install and troubleshoot the AT6200 and AT6400 hardware Programming related issues are covered in the 6000 Series Programmer s Guide and the 6000 Series Software Reference AT6n00 Hereafter the AT6200 and AT6400 are referred to collectively as the AT6n00 What You ...

Page 7: ...plies with the LVD and EMC directives you must follow the additional procedures described in Appendix A under CE Installation Instructions In some installations additional measures may be required If you do not follow these instructions the protection of the product may be impaired The ultimate responsibility for ensuring that the CE requirements for the system are met rests with the system builde...

Page 8: ...IN THIS CHAPTER Product ship kit list General specifications table PC card installation procedures Mounting procedures Electrical connection procedures including specifications Installation test procedures Preparation for what to do next ...

Page 9: ...is used to control your system s electrical and mechanical components Therefore you should test your system for safety under all potential conditions Failure to do so can result in damage to equipment and or serious injury to personnel Always remove power to the computer before Installing or removing the AT6n00 PC card Adjusting the DIP switches on the AT6n00 PC card after it is installed in the c...

Page 10: ...ups to 5V voltage range is 0 24V Trigger Release Auxiliary Drive Fault and In Position HCMOS compatible internal 1 0 KΩ 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 Maximu...

Page 11: ... 760 767 2F8 2FF Serial Port 2 768 799 300 31F Prototype Card 800 815 320 32F Hard Disk XT 888 895 378 37F Parallel Printer 896 911 380 38F SDLC 928 943 3A0 3AF SDLC 944 955 3B0 3BB Monochrome Card 956 959 3BC 3BF Parallel Printer 960 975 3C0 3CF EGA Card 976 991 3D0 3DF CGA Card 1000 1007 3E8 3EF Serial Port 3 1008 1015 3F0 3F7 Floppy Disk 1016 1023 3F8 3FF Serial Port 1 Computer I O Address Spac...

Page 12: ...he AT6n00 card CAUTION While handling the AT6n00 card be sure to observe proper grounding techniques to prevent damage from electro static discharge ESD St ep 5 Insert the bottom corner of the AT6n00 PC card into the card guide slot near the front of the computer Ease both ends of the card simultaneously down into the computer until the card s edge connector reaches the computer s mating connector...

Page 13: ...w space around the board The maximum allowable ambient temperature directly below the AUX board is 122 F 50 C Fan cooling may be necessary if adequate air flow is not provided 5 50 139 70 1 25 31 75 2 13 54 10 2 00 50 80 0 25 6 35 1 25 31 75 0 375 9 53 10 10 256 54 11 20 284 48 Optional Mounting Tab Location Provision for 10 Mounting Screws 4 Plcs 0 20 5 08 0 75 19 05 Mounting brackets and 6 32 0 ...

Page 14: ...A B L E I N P U T S P R O G R A M M A B L E O U T P U T S J O Y S T I C K AUXILIARY GND GND GND ENCODER 1 SHLD GND LIMITS 1 2 SHLD GND GND Pin 8 SHLD SHLD Terminal Even numbered pins on I O connectors are GND pins AC Connector Ground Pin GND Pins and Terminals ENCODER 2 SHLD GND ENCODER 3 SHLD GND ENCODER 4 SHLD GND LIMITS 3 4 SHLD GND GND 1 8 9 15 DRIVE 1 DRIVE 2 DRIVE 3 DRIVE 4 EARTH Isolated Gr...

Page 15: ...not ensure CE compliance Refer to Appendix A for specific CE installation instructions Pulse Cut Off P CUT Emergency Stop Switch Internal Schematic P CUT connected to GND normally closed switch If this connection is opened step pulses to all axes are stopped independent of the microprocessor NOTE If the P CUT input is not grounded when motion is commanded motion will not occur and the error messag...

Page 16: ...gnal on Direction specifies motion in the positive direction High signal on Direction specifies motion in the negative direction 11 Blue 16 OUT Shutdown 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 0VDC 30mA High 3 5VDC 30mA 12 Purple 17 IN Shutdown Return Differential...

Page 17: ...dy pin 15 Step pin 9 Step pin 46 Shutdown pin 12 Servo On pin 24 Ground pin 13 Servo Ready pin 16 AT6n00 Connecting a Dynaserv Drive Shutdown pin 11 Servo On pin 23 Shield pin 8 Dynaserv 50 pin DN1 Connector Order the 71 012985 10 10 foot cable for easy plug compatibility with the Dynaserv B pin 5 B pin 30 A pin 8 A pin 14 B pin 6 B pin 29 A pin 7 A pin 13 Z pin 3 Z pin 44 Z pin 4 Z pin 43 DRIVE C...

Page 18: ...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 Provides 5V power to the POS NEG and HOM input pull up resistors As an alternative you c...

Page 19: ...is ground earth Isolated logic ground Z Channel quadrature signal input Z Channel quadrature signal input B Channel quadrature signal input B Channel quadrature signal input A Channel quadrature signal input A Channel quadrature signal input 5VDC output to power the encoder Specification for all encoder inputs Differential comparator accepts two phase quadrature incremental encoders with different...

Page 20: ...mpatible Low 1 00V High 3 5V 25 Pin JOYSTICK Connector PIN OUTS SPECIFICATIONS Pin In Out Name Description 1 IN Analog Channel 1 Analog input for feedrate control or joystick control of axis Voltage range is 0 2 5VDC 8 bit A D converter CAUTION Input voltage must not exceed 5VDC 2 IN Analog Channel 2 same description as pin 1 above 3 IN Analog Channel 3 same description as pin 1 above 4 IN Analog ...

Page 21: ...ection Output Ground 5VDC AUX P 5V GND Pulled up to 5V sourcing The output should be able to sink at least 1mA of current AT6n00 ISO GND Electronic Device Out 5 24 Volts ISO GND 74HCxx 6 8 KΩ 47 KΩ Trigger Input Connection Ground Connection Output Ground 5VDC AUX P 5V GND Pulled down to ground sinking AT6n00 ISO GND V1 R1 Connection to a Combination of Sinking Sourcing Outputs Typical value for R ...

Page 22: ...s compatible with OPTO 22 signal conditioning equipment Sourcing Current On the AUXILIARY connector connect IN P to 5V or to your own power supply of up to 24VDC Sinking Current On the AUXILIARY connector connect IN P to GND STATUS Check with the TIN status command Active level Default is active low but can be changed to active high with the INLVL command Outputs Pin Function Pin Function Internal...

Page 23: ...nd 5VDC IN P 5V GND Pulled up to 5V sourcing AT6n00 ISO GND V1 R1 R PROGRAMMING TIP Connecting to a sinking output Set the input s active level to low with the INLVL command Ø active low Connecting to a sourcing output Set the input s active level to high with the INLVL command 1 active high Thus when the output is active the TIN status command will report a 1 indicates that the input is active re...

Page 24: ...ollector V Output 2 Ground Connection Input Ground 7406 4 7 KΩ ISO GND open collector Sourcing Input Sinking Input Connection to an Inductive Load active low Output Connection OUT P 5V GND AT6n00 7406 4 7 KΩ 5VDC ISO GND External Supply up to 24VDC open collector Use an external diode when driving inductive loads Connect the diode in parallel to the inductive load attaching the anode to the AT6n00...

Page 25: ... Input 5 AUX Board Pin 49 5VDC Pin 48 GND Programmable Output 1 Programmable Output 2 Programmable Output 3 1 2 3 4 5 6 7 8 5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 TM8 Thumbwheel Module Connection to your own Thumbwheel Module Sign Bit Thumbwheel 1 Thumbwheel 2 Thumbwheel 3 Thumbwheel 4 Thumbwheel 5 Thumbwheel 6 Thumbwheel 7 Thumbwheel 8 IN9 sign IN8 MSB IN7 IN6 IN5 LSB IN4 MSB IN3 IN2 IN1 LSB OUT4 OU...

Page 26: ...vides the power for all the 5V terminals on all I O connectors AUXILIARY 5V GND 5V OUT P IN P GND AUX P P CUT GND External 5VDC Power Supply 5VDC Ground 1 Note This input power configuration will not ensure CE compliance Refer to Appendix A for specific CE installation instructions DC versions of the AT6n00 are not CE compliant STATUS LEDs PC AT After applying power the status LED on the AT6n00 PC...

Page 27: ...same conduit or wiring trays as high voltage AC wiring Reducing noise on limit trigger and P CUT inputs If you are experiencing noise problems try adding resistors to reduce noise sensitivity see illustration below Long Cable Add a resistor between the input and the power supply this will lower the input impedance and reduce noise sensitivity Use a value between 330Ω and 2 2KΩ depending on noise s...

Page 28: ...he program prompts you to identify the AUX board version you are using Type 1 to select the AUX1 and press ENTER 7 The program prompts you for the base port address of the AT6n00 PC card If you have not changed the default DIP switch setting default is 768 decimal just press ENTER If you changed the DIP switch see page 4 type in the new address and press ENTER The program displays this menu Parker...

Page 29: ...rograms and check the activity of I O motion system status etc This can be invaluable during start ups and when fine tuning machine performance On line context sensitive help and technical references These on line resources provide help information about Motion Architect as well as interactive access to the contents of the 6000 Series Software Reference Guide Dynamic Link Library A DLL device driv...

Page 30: ...APTER Troubleshooting basics Reducing electrical noise Diagnostic LEDs Test program Motion Architect Test Panel Technical support Solutions to common problems Corrective actions in response to operating system download errors Product return procedure ...

Page 31: ...ter If the problem persists contact your local technical support resource see Technical Support below Reducing Electrical Noise Refer to Appendix A for information on reducing electrical noise to the levels necessary for CE compliance Diagnostic LEDs PC AT After applying power the status LED on the AT6n00 PC card will be off and the status LED on the AUX board should be red If the LED on the AUX b...

Page 32: ...step motor reversed 1 Switch DIR with DIR connection to drive 2 Switch PHA with PHA connection from drive to motor Distance is incorrect as programmed 1 Incorrect resolution setting 2 Pulse width too narrow 1 a Set the resolution on the drive usually set with DIP switches to match the AT6n00 s DRES command setting default DRES setting is 25 000 steps rev 1 b Match the AT6n00 s ERES command setting...

Page 33: ...nection to drive 2 Check encoder wiring Mouse stops working or serial ports affected after AT6n00 is installed 1 Interrupt conflict 2 Address conflict 1 See Interrupt Selection section below 2 See Address Selection section below Operating system will not download or download stops part way through 1 Address conflict 2 Download error 1 See Address Selection section below 2 See Downloading Errors ta...

Page 34: ...invalid Use another address setting 768 port 1024 in increments of 8 5 Unknown Option An unknown option was specified on the AT6400 EXE command line 6 Base Port Address Greater than 1024 The base port address is too high Specify an address between 768 and 1024 decimal with the PORT parameter 7 Base Port Address Less than 255 The base port address is too low Specify an address between 768 and 1024 ...

Page 35: ...witching to 8 bit mode on the card switching out of Turbo mode on your PC or a different address 21 Card Read Error outbuf The downloader is unable to empty the output buffer There may be an address conflict with another board Try a different address 22 Card ROMS Command Line Parameter Passing Not Supported The card ROMS are an old revision that do not support command line arguments Obtain a ROM u...

Page 36: ...6200 AUX1 DC and AT6400 AUX1 DC Safety Considerations The AT6n00 is intended for installation according to the appropriate safety procedures including those laid down by the local supply authority regulations The recommendations provided are based on the requirements of the Low Voltage Directive LVD and specifically on EN61010 1 It should be remembered that safety must never be compromised for the...

Page 37: ... screw and lock washer The use of brass or other inert conductive metal P clip is recommended Cover any exposed bare metal with petroleum jelly to resist corrosion P Clip Remove outer jacket only do not cut braid Figure 2 P Clip Installation Clam shell clamp The function of the clam shell clamp is to bond both physically and electrically the high density cable to the system cabinet which in turn m...

Page 38: ...ty Ground Earth Ground should never be fused Installation Installing the AT6n00 Card Install the AT6n00 card itself into your computer per the instructions on page 5 of this Installation Guide In order for the AT6n00 card to be CE compliant it must be mounted in a CE compliant computer The AT6n00 will not compromise the EMC integrity of the host computer or its peripherals Installing the Auxiliary...

Page 39: ... the Auxiliary Box itself Fit a ferrite absorber close to the I O connector and run the cable down to the mounting panel as shown in Figure 5 Expose a short length of the braided screen and anchor to the panel with a P clip The level at which the I O operates means that the signals are unlikely to meet EMC immunity requirements if taken outside the enclosure without proper screening 50 Pin Ribbon ...

Page 40: ...ive Conductor Terminal Frame or ChassisTerminal Equipotentiality Caution Risk of Electric Shock Caution Refer to Accompanying Text Recycle Battery Hot Surface BATTERY AT6n00 card in PC AUX box Snap on Ferrite Absorbers Clam Shell Clamp AC Input Filter Enclosure AC Input Note Also use P clips ferrite absorbers and braided screen cables for connections to the AUX box within the enclosure Figure 5a E...

Page 41: ...ed screen Cables Ribbon Cable VM50 Programmable I O Cable Limits Cable Encoder Cable Compumotor AT6400 4 AXIS IN DEXER 4 AXIS IN DEXER J O Y S T I C K P R O G R A M M A B L E O U T P U T S P R O G R A M M A B L E I N P U T S System Earth Point Drive Cable Triggers Cable Auxiliary Cable Figure 5b EMC connections for AT6n00 AUX box within the System Enclosure ...

Page 42: ...rammable inputs 16 programmable outputs 17 pulse cut off input P CUT 8 testing 21 thumbwheels 18 trigger inputs 14 VAC power input 19 VDC power input 19 VM50 screw terminal adaptor 15 contaminants 6 controller to AUX connections 8 D damage from electro static discharge ESD 5 DC input power connections specs 19 DDE6000 22 device address see address dimensions AUX board 6 DIP switch settings address...

Page 43: ...allation 2 mounting 6 product return procedure 28 pulse cut off P CUT 8 R reference documentation i release input joystick connections specs 13 resolution decoded quadrature 12 return procedure 28 S safety 2 safety stops 11 schematics internal see also back cover drive inputs and outputs 9 encoder inputs 12 joystick analog inputs 13 limit inputs 11 P CUT input 8 programmable inputs and outputs 15 ...

Page 44: ...ee also pages 7 20 Pin Function 49 5VDC 47 Input or Output 1 LSB 45 Input or Output 2 43 Input or Output 3 41 Input or Output 4 39 Input or Output 5 37 Input or Output 6 35 Input or Output 7 33 Input or Output 8 31 Input or Output 9 29 Input or Output 10 27 Input or Output 11 25 Input or Output 12 23 Input or Output 13 21 Input or Output 14 19 Input or Output 15 17 Input or Output 16 15 Input or O...

Page 45: ...nt Service Center Repairs Experienced Engineers and Technicians on staff in our State of the art Full Service In House Service Center Facility InstraView Remote Inspection Remotely inspect equipment before purchasing with our Innovative InstraView website at http www instraview com We bUy used equipment We also offer credit for Buy Backs and Trade Ins Sell your excess underutilized and idle used e...

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