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
DC input....................................................................
5VDC
±
5%, 4A minimum
(current requirements depend on the type and amount of I/O used – see page 20).
Status LEDs/fault detection......................................
Refer
to
Diagnostic LEDs on page 28
Environmental
Operating Temperature ..........................................
32 to 122
°
F (0 to 50
°
C)
Storage Temperature...............................................
-22 to 185
°
F (-30 to 85
°
C)
Humidity ...................................................................
0 to 95% non-condensing
Performance
Position Range & Accuracy.....................................
Position
range:
±
2,147,483,648 counts;
Accuracy:
±
0 counts from preset total
Velocity Range, Accuracy, & Repeatability............
Range: 1-2,000,000 counts/sec;
(commanded velocity)
Accuracy:
±
0.02% of maximum rate;
Repeatability:
±
0.02% of set rate
Acceleration Range..................................................
1-24,999,975
counts/sec
2
Motion Trajectory Update Rate...............................
See
SSFR
command description in the
6000 Series Software Reference
Servo Sampling Update Rate..................................
See
SSFR
command description in the
6000 Series Software Reference
Serial Communication
Connection Options..................................................
RS-232C, 3-wire (Rx, Tx & GND on the AUX connector).
Maximum units in daisy-chain................................
99 (use DIP switch or
ADDR
command to set individual addresses for each unit)
Communication Parameters...................................
9600 baud (range is 9600-1200—see
AutoBaud, page 6), 8 data bits, 1 stop bit, no parity;
RS-232: Full duplex; XON/XOFF enabled.
Inputs
HOM
,
POS
,
NEG
,
TRG-A
,
TRG-B
, &
ENBL
...............
HCMOS compatible* with internal 6.8 K
W
pull-up resistor to
AUX-P
terminal. Voltage range
for these inputs is 0-24V. As shipped from the factory,
AUX-P
is internally connected to +5V
via resistor
R45
(input is sinking current). To make the input sink current to a supply other
than +5V, first remove
R45
and then connect an external 5-24V supply to the
AUX-P
terminal.
To source current, first remove
R45
and then connect the
AUX-P
terminal to the GND
terminal. CAUTION: Failure to remove
R45
before connecting
AUX-P
to an external supply,
or to the
GND
terminal, or to the
+5V
terminal will damage the OEM6250.
NOTE: As shipped from the factory, the
ENBL
(enable) input is connected to ground via zero-
ohm resistor
R25
, thereby allowing motion. To control the
ENBL
input with an external switch
(i.e., to use it as an emergency stop input), remove
R25
.
DFT
...........................................................................
HCMOS compatible* with internal 6.8 K
W
pull-up resistor to +5VDC. Voltage range for
these inputs is 0-24V.
Joystick inputs: Axes Select, Velocity Select, ......
HCMOS compatible* with internal 6.8 K
W
pull-ups to +5V; voltage range is 0-24V.
Trigger, Release, and Auxiliary
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
³
2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
16 General-Purpose Programmable Inputs ..........
HCMOS compatible* with internal 6.8 K
W
pull-up resistor to
IN-P
terminal. As shipped from
(
PROGRAMMABLE INPUT/OUTPUT
connector)
.............
the factory,
IN-P
is internally connected to +5V via resistor
R12
(inputs sinking current). To
make the inputs sink current to a supply other than +5V, first remove
R12
and then connect an
external 5-24V supply to the
IN-P
terminal. (
IN-P
can handle 0-24V with max. current of
100 mA.) To source current, first remove
R12
and then connect the
IN-P
terminal to the
GND
terminal. CAUTION: Failure to remove
R12
before connecting
IN-P
to an external supply, or
to the
GND
terminal, or to the
+5V
terminal will damage the OEM6250. Voltage range = 0-24V.
Analog input channels (
JOYSTICK
connector) .......
Voltage range = 0-2.5VDC; 8-bit A/D converter. Input voltage must not exceed 5V.
Analog Inputs (optional ANI input board) ................
Voltage range =
±
10V, 14-bit A/D (OEM6250-ANI or OPT-OEM6250-A product only)
Outputs
8 Programmable Outputs .......................................
Open-collector output with internal 4.7 K
W
pull-up resistor to
OUT-P
terminal. Shipped from
(
PROGRAMMABLE INPUT/OUTPUT
connector)
.............
factory with these outputs internally pulled up to +5V through a zero ohm resistor –
R13
. If
you remove resistor
R13
first, you can pull up these outputs by connecting
OUT-P
to the
+5V
terminal or to an external 5-24V power source. Max. voltage in the OFF state (not sinking
current) = 24V; max. current in the ON state (sinking) = 30mA.
+5V Output................................................................
Internally su5VDC.
+5V
terminals are available on multiple connectors. The amount
of current available depends on the current that you supply to the +5V terminal on the input
power connector (see page 20).
Command Out (
CMD
)..............................................
±
10V analog output. 12-bit DAC. Load should be > 2K
W
impedance.
Shutdown (
SHTNO
,
SHTNC
, and
COM
) ...................
Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W.
* HCMOS-compatible switching voltage levels: Low
£
1.00V, High
³
3.25V.
TTL-compatible switching voltage levels: Low
£
0.4V, High
³
2.4V.
