Parker 6K2 Скачать руководство пользователя

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Effective: November 9, 1998

p/n 88-017547-01 A

6K Series Hardware
Installation Guide

Automation

6K4 (4-axis Controller)

6K2 (2-axis Controller)

6K8 (8-axis Controller)

6K6 (6-axis Controller)

Содержание 6K2

Страница 1: ...Effective November 9 1998 p n 88 017547 01 A 6K Series Hardware Installation Guide Automation 6K4 4 axis Controller 6K2 2 axis Controller 6K8 8 axis Controller 6K6 6 axis Controller ...

Страница 2: ... or used for any purpose not expressly authorized by the owner thereof Since Parker Hannifin constantly strives to improve all of its products we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice In no event will the provider of the equipment be liable for any incidental consequential or special damages of any kind or nature whatsoev...

Страница 3: ...IM Boards 45 Setting Jumpers selecting sinking sourcing 45 Electrical Connections 46 Connection to 6K controller between VM32 I O bricks 46 24VDC power input 46 Digital Inputs 47 Digital Outputs 48 Analog Inputs 49 Appendix C Servo Tuning 51 Index 53 Purpose of This Guide This document is designed to help you install and troubleshoot your 6K Series controller Programming related issues are covered...

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Страница 5: ...onsider before you install your 6K controller 2 Product ship kit list 3 General specifications table 4 Dimensions and mounting guidelines 6 Connecting all electrical components includes specifications 8 Testing the installation 30 Preparing for what to do next 31 ...

Страница 6: ...e RS 232 485 connector as an RS 485 serial port default function is RS 232 and configured for connection to an RP240 4 Mount the 6K controller see page 6 5 Connect all electrical system components see pages 8 29 Installation instructions for the EVM32 expansion I O are provided on page 43 6 Test the installation see page 30 7 Mount the motors and or couple the loads 8 Tune any servo axes or axes u...

Страница 7: ...6 01 Screws 4 to attach mounting brackets 6 32 x 51 006037 01 Ethernet cable 5 foot RJ 45 cross over 71 017635 01 Peel and stick labels for onboard I O cables 87 017636 01 Optional Accessories Part Name Part Number Drive cable to Parker step direction drives 10 foot 71 016137 10 Drive cable to 10V drives 10 foot no connector at drive end 71 017003 10 VM25 25 pin screw terminal adapter for onboard ...

Страница 8: ...ee connector on top of 6K chassis Trigger inputs TRIGGERS OUTPUTS connectors Voltage range 0 24VDC Factory default is sourcing current voltage reference is 24VDC To make all trigger inputs sink current connect the TRIG P terminal to the GND terminal see connector on top of 6K chassis Master trigger input MASTER TRIG same specification as the rest of the trigger inputs Drive Fault input pin 5 on DR...

Страница 9: ...removing the 6K s enclosure While handling the 6K s printed circuit assemblies be sure to observe proper grounding techniques to prevent electrostatic discharge ESD DIP Switch RS 485 2 Wire RS 485 4 Wire RS 232 8 2 wire RS 485 7 4 wire RS 485 6 reserved 5 Enable RS 485 4 120Ω Rx termination resistor 3 120Ω Tx termination resistor 2 681Ω Tx bias resistor 1 681Ω Tx bias resistor ON OFF OFF ON ON ON ...

Страница 10: ...6 6K Hardware Installation Guide 9 6HULHV LPHQVLRQV 0RXQWLQJ Dimensions 6K2 6K4 6K6 6K8 ...

Страница 11: ...6K chassis Fan cooling may be necessary if adequate air flow is not provided Humidity Keep below 95 non condensing Airborne Contaminants Liquids Particulate contaminants especially electrically conductive material such as metal shavings and grinding dust can damage the 6K No not allow liquids or fluids to come in contact with the 6K or its cables Mounting Option DIN Rail Mounting Option Brackets b...

Страница 12: ...nection necessary for pull up to 24VDC See page 20 CNTRL P Pull up for drive fault inputs No connection necessary for pull up to 24VDC See page 10 and 15 GND Isolated logic ground MASTER TRIG Master Trigger Input See page 10 OUT DIODE The 6K is shipped from the factory with this pin connected to 24VDC power with an external jumper this uses the internal flyback diode for onboard outputs that are d...

Страница 13: ...l Schematic VINref is 24VDC unless you connect an external 5 24VDC supply to the VINref terminal Default voltage reference for ENABLE input is 24VDC To use an alternative voltage reference connect an external 5 24VDC supply to the VINref pin ISO GND LM339 VINref 24VDC 24VDC 12 0 K 6 8 K 33 0 K 33 0 K 20 0 K 18 2 K Voltage Range on ENABLE 0 24VDC Switching levels Low 1 3 VINref voltage High 2 3 VIN...

Страница 14: ... 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 Analog Ground Isolated Ground Open if DRIVE0 Closed if DRIVE1 Closed if DRIVE0 Open if DRIVE1 AGND AGND Command Pin 03 CMD Pin 05 DRF By default the Drive Fault input is a sourcing input If you wish the Drive Fault input to sink current connect CNTRL P to GND on the screw terminal connector lo...

Страница 15: ...IVE1 this output is internally connected to COM see schematic above 8 SHTNC OUT Gray Shutdown relay output to drives that require a closed contact to disable the drive The shutdown relay is active disabling the drive when no power is applied to the 6K When the 6K is powered up the shutdown relay remains active until you issue the DRIVE1 command to the axis Max rating 175VDC 0 25A 3W Shutdown activ...

Страница 16: ...jumper LK2 is set to position B this is not the factory default setting CONNECTIONS TO THE DYNASERV DRIVE Dynaserv Drive Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin A DN1 13 A ENCODER 02 V1 DN1 14 A ENCODER 03 SRVON DN1 23 SHTNO DRIVE 07 Vcc DN1 24 5V ENCODER 01 B DN1 29 B ENCODER 04 B DN1 30 B ENCODER 05 Z DN1 43 Z ENCODER 06 Z DN1 44 Z ENCODER 07 VIN DN1 49 CMD...

Страница 17: ...TE The Linearserv s default setting is for Position Mode for accepting step and direction command signals The connections above assume the Linearserv is reconfigured for Velocity Mode or Torque Mode Refer to the Linearserv user guide for additional information CONNECTIONS TO THE OEM670T OEM675T DRIVE OEM67x Drive Connections 6K Connections Signal Name Pin Signal Name Connector Pin CMD 01 CMD DRIVE...

Страница 18: ...r is applied to the 6K When the 6K is powered up the shutdown relay remains active until you issue a DRIVE1 command to the axis NOTE Adding the 500Ω resistor assumes the drive fault input is pulled up CNTRL P is internally pulled up to the voltage at the VINref terminal if no voltage is connected to VINref CNTRL P is pulled up internally to 24VDC However if all axes are SV drives do not connect th...

Страница 19: ...Active vs Inactive ISO GND Pin 05 DRF By default the Drive Fault input is a sourcing input If you wish the Drive Fault input to sink current connect CNTRL P to GND on the screw terminal connector located on top of the 6K chassis 5VDC 5VDC ISO GND Active Inactive Active Inactive ISO GND ISO GND 5VDC 5VDC Pin 01 STEP Pin 09 STEP Pin 06 CMD Pin 12 SHUTDOWN Pin 11 SHUTDOWN VINref is 24VDC unless you c...

Страница 20: ...ection OUT Differential output Low signal on Direction specifies motion in the positive direction High signal on direction specifies motion in the negative direction 11 Shutdown OUT 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 Shutdown OUT...

Страница 21: ...ve Connections 6K Connections Signal Name Connector Pin Signal Name Connector Pin Step DN1 45 Step DRIVE 01 Step DN1 46 Step DRIVE 09 Direction DN1 20 Direction DRIVE 02 Direction DN1 19 Direction DRIVE 10 Servo On DN1 23 Shutdown DRIVE 11 Servo On DN1 24 Shutdown DRIVE 12 Servo Ready DN1 15 Drive Fault DRIVE 05 Servo Ready DN1 16 Ground DRIVE 13 A DN1 13 A ENCODER 02 A DN1 14 A ENCODER 03 B DN1 2...

Страница 22: ... A ENCODER 02 A CN1 41 A ENCODER 03 B CN1 19 B ENCODER 04 B CN1 43 B ENCODER 05 Z CN1 21 Z ENCODER 06 Z CN1 45 Z ENCODER 07 NOTE These connections assume that the Linearserv is left in its factory default setting for Position Mode for accepting step and direction command signals Refer to your Linearserv user guide for verification CONNECTIONS TO THE PKH130M DRIVE PKH130 Drive Connections 6K Connec...

Страница 23: ...te Brown n a Blue n a Black Wire colors for HJ encoders 5VDC Red A Channel White A Channel Yellow B Channel Green B Channel Blue Z Channel Orange Z Channel Brown Ground Black Pin 2 A Pin 3 A Pin 4 B Pin 5 B Pin 6 Z Pin 7 Z Pin 8 SE Pin 1 5V out Pin 9 GND Wire colors for SM N and J encoder cables Max cable length is 100 feet 30 48 m Use 22 AWG wire Encoder cable ENCODER INPUTS Differential comparat...

Страница 24: ...age 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 log...

Страница 25: ...Trigger input 15 TRIG 8A Trigger input 16 TRIG 8B GP Output 5 GP Output 6 GP Output 7 GP Output 8 Voltage range is 0 24VDC Trigger input 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 TRIG P terminal to the GND terminal Status C...

Страница 26: ...ifferent external supply to VINref VINref 20 0 K 18 2 K Electronic Device 6K Internal Schematic LM339 24VDC TRIG 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 GND even pin Trigger Input odd pins 9 23 ISO GND ISO GND Output Ground Typical value for R is 450 assuming R1 0 The value of R may vary depending on the value of R1...

Страница 27: ...to an Inductive Load active low V Input Ground Ground Sourcing Input Sinking Input ISO GND 24VDC 33 K ISO GND Output A odd pins 1 7 External Supply 24VDC External Supply 24VDC Input I R1 R1 Vuser R2 R2 Ground 24VDC 33 K ISO GND Output B odd pins 1 7 GND even pin External Supply 24VDC External Supply 24VDC I R1 R2 Vuser Programming Tip If connecting to an active high sinking input set the output s ...

Страница 28: ...communicate to first is the only one that is recognized until you cycle power You can communicate to the Ethernet port or the RS 232 port COM1 while the 6K is also communicating with an RP240 via the RS 232 485 port COM2 Ethernet Port RS 232 485 COM2 port Set up for use with an RP240 configurable for RS 485 or as the primary RS 232 port RS 232 COM1 port Set up for use as the primary RS 232 port co...

Страница 29: ... Unit 2 25 Pin COM Port 9 Pin COM Port Serial Port Connection on PC Pin 2 Rx Pin 3 Tx Pin 5 GND Pin 2 Tx Pin 3 Rx Pin 7 GND Rx pin 2 Tx pin 3 GND pin 5 Rx Tx GND Rx Tx GND Rx Tx GND Rx Tx GND Rx Tx GND Rx Tx GND Rx Tx GND Rx Tx GND Ethernet Communication NOTES Status LEDs Green LED is on when the Ethernet physical connection is OK Yellow LED is on when the 6K is transmitting over the Ethernet inte...

Страница 30: ... the diagrams below or page 5 for necessary DIP switch settings for 2 wire and 4 wire configuration 4 Wire Connections plus ground RS 232 485 connector Master Unit Tx Tx Rx Rx 120 W 120 W Shield Unit 1 Unit 2 Unit 3 Unit 31 120 W 681W 120 W The DIP switch shown above is configured for RS 485 4 wire DIP switches 1 4 select internal resistor values ON selects the resistor Use these resistors only fo...

Страница 31: ...x Pin 6 GND Pin 1 Rx Pin 7 Rx Pin 4 Tx Pin 8 Tx Pin 6 GND Pin 1 Rx Pin 7 Rx Pin 4 Tx Pin 8 Tx Pin 6 GND Pin 1 Rx Pin 7 Rx Pin 4 Tx Pin 8 Tx Pin 6 GND Master Unit The DIP switch shown above is configured for RS 485 2 wire DIP switches 1 4 select internal resistor values ON selects the resistor Use these resistors only for the last unit or for a single unit Refer to page 5 for instructions on how to...

Страница 32: ... check for RP240 on COM1 GND Rx Tx 5V RP240 Back Plane Pin 5 GND Pin 3 Tx Pin 2 Rx Pin 9 5VDC NOTE Refer to the Model RP240 User Guide for RP240 specifications and mounting instructions Expansion I O See Appendix B page 43 The 6K product allows you to expand your system I O by connecting up to eight EVM32 expansion I O bricks EVM32 bricks are sold separately from the 6K controller Each I O brick c...

Страница 33: ... on type and amount of I O used Guide to Power Requirements 6K2 or 6K4 24 Watts 1A 24VDC 6K6 or 6K8 36 Watts 1 5A 24VDC For each encoder Add 1 5 Watts For each output Add 7 5 Watts up to 300mA output For example a 6K4 with 4 encoders connected and 4 digital outputs 300mA 224VDC requires 60 Watts of power The PS 60W is an optional power supply which can be ordered separately It provides 60 Watts of...

Страница 34: ... enter the K ctrl K command to stop the continuous report back TPE response encoder counts encoder1 encoder1 Direction of rotation Counter clockwise negative counts Clockwise positive counts Trigger Inputs 1 Open the trigger input switches or turn off the device driving the inputs 2 Enter the TIN command Response should be TINØØØØ_ØØØØ_Ø or TINØØØØ_ØØØØ_ØØØØ_ØØØØ_Ø 3 Close the trigger input switch...

Страница 35: ...provided on page 43 6 Test the installation see page 30 NEXT 1 Mount the motors and or couple the loads 2 Tune any servo axes Use the tuning facility in Motion Planner see page 51 AND FINALLY After completing all necessary hardware installation tasks you are ready to program your motion control functions Knowing your system s motion control requirements refer now to the 6K Series Programmer s Guid...

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Страница 37: ...2 C H A P T E R T W O Troubleshooting IN THIS CHAPTER Troubleshooting basics 34 Solutions to common problems 35 Resolving RS 232 RS 485 communication problems 38 Product return procedure 39 ...

Страница 38: ... or re create the problem Random events may appear to be related but they are not necessarily contributing factors to your problem You may be experiencing more than one problem You must isolate and solve one problem at a time Log document all testing and problem isolation procedures You may need to review and consult these notes later This will also prevent you from duplicating your testing effort...

Страница 39: ...does not move in the commanded direction 2 Switch A with A connection from drive to motor SOFTWARE ALTERNATIVE If the motor and the encoder if one is used is reversed use the CMDDIR1 command to reverse the polarity of both the commanded direction and the polarity of the encoder counts 3 Phase of encoder reversed reported TPE direction is reversed 3 Swap the A and A connection at the ENCODER connec...

Страница 40: ... 2 Feedback device slipping 2 Check and tighten feedback device coupling 3 Encoder too hot 3 Reduce encoder temperature with heatsink thermal insulator etc 4 Electrical noise 4a Shield wiring 4b Use encoder with differential outputs 5 Encoder frequency too high 5 Peak encoder frequency must be below 12 0 MHz post quadrature Peak frequency must account for velocity ripple Joystick mode Motor does n...

Страница 41: ...vo axes only 9 Check to see if TAS TASF bit 23 is set and issue the DRIVE1 command to the axis that exceeded the position error limit 10 Drive has activated the drive fault input 10 Check to see if TAS TASF bit 14 is set and check the drive fault level DRFLVL Power up Program does not execute 1 ENABLE input is not grounded 1 Ground the ENABLE input to GND and reset the product see page 9 2 STARTP ...

Страница 42: ...e using an RS 232 connection between the host computer and the master 6K connected to multiple 6Ks in an RS 485 multi drop make sure the master 6K has these settings executed in the order given you should place these settings in your power up STARTP program PORT1 select RS 232 port COM1 for configuration ECHO3 echo to both COM ports PORT2 select RS 232 485 port COM2 for configuration ECHO2 echo to...

Страница 43: ... reason for return How long did it operate Did any other items fail at the same time What was happening when the unit failed e g installing the unit cycling power starting other equipment etc How was the product configured in detail Which if any cables were modified and how With what equipment is the unit interfaced What was the application What was the system environment temperature enclosure spa...

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Страница 45: ...for the I O on the 25 pin connectors which are the TRIGGERS OUTPUTS and LIMITS HOME connectors The VM25 comes with a 2 foot cable that provides easy connection between the VM25 and the 6K s 25 pin connector The VM25 is ordered separately part number is VM25 9058 275 54 91 85 ...

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Страница 47: ...ck see table below Product p n Description EVM32 Base EVM32 baseboard extrusion with built in DIN rail mount includes 2 foot cable SIM8 IN SIM board with 8 digital inputs Color code RED SIM8 OUT EVM32 SIM board with 8 digital outputs Color code BLUE SIM8 AN IN SIM board with 8 analog inputs 12 bit 10V inputs Color code GREEN 71 016949 02 2 foot cable for connection to 6K or between I O bricks incl...

Страница 48: ... is less than or equal to 2 5VDC when sinking up to 300mA 2 5 VDC for 300 mA Voltage sourcing jumper in position 1 Output voltage level may be up to 2 volts less than the user supplied voltage V when sourcing up to 50mA Output voltage level may be up to 2 5 volts less than the user supplied voltage V when sourcing up to 300mA Current 300mA maximum per output continuous duty at 50 C ambient tempera...

Страница 49: ... jumper setting affects only digital inputs SIM8 IN and digital outputs SIM8 OUT VM32 Position 1 selects sourcing SIM slot for I O points 25 32 SIM slot for I O points 17 24 SIM slot for I O points 9 16 SIM slot for I O points 1 8 SIM Board Color Codes SIM8 IN digital inputs RED SIM8 OUT EVM32 digital outputs BLUE SIM8 AN IN analog inputs GREEN CAUTION Remove power to the EMV32 baseboard before in...

Страница 50: ...ller powers up and detects an output SIM on a VM32 it will set the active level OUTLVL command according to the jumper setting selected To check the status of one or more VM32 I O bricks use the TIO command 24VDC power input V V V GND Power Supply 12 24VDC 1 5A 12VDC or 0 75A 24VDC plus the sum of the load current on outputs that are in sourcing mode Connect to V Connect to GND 2 foot 0 61 m cable...

Страница 51: ...n Input Connection V J1 GND JUMPER 1 2 3 V 30 1 KW 20 0 KW 18 2 KW Iso GND Iso GND Iso GND External Supply 12 to 24VDC Sourcing Output Ground Electronic Device V1 R1 12 1 KW 6 81 KW 1500 pF 10 0 KW Iso GND Iso GND Iso GND EVM32 Ground Connection Input Connection V J1 GND JUMPER 1 2 3 V 30 1 KW 20 0 KW 18 2 KW Iso GND External Supply 12 to 24VDC CAUTION Remove power to the EMV32 baseboard before co...

Страница 52: ...o GND Jumper set to position 3 1 3 Sourcing Electronic Device Input Ground External Supply 12 to 24VDC EVM32 Ground Connection Output Connection Iso GND Iso GND Jumper set to position 1 1 3 V J1 GND CAUTION Remove power to the EMV32 baseboard before connecting I O NOTE Use an external diode when driving inductive loads Connect the diode in parallel to the inductive load ...

Страница 53: ...ut Connection 12 5 KW 1 0 MW 8 67 KW 5 12 KW S2 S1 Analog Input Source 10V Ground Signal Source Bipolar Unipolar OFF ON Voltage Reference S3 Hold Track S4 Track Hold T H Out CHold S1 Bipolar Unipolar Switch S2 Input Mux Switch S3 S4 T H Switch GND Connection ...

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Страница 55: ...ished with the wizard icons for the selected program elements including the Setup Program will be placed in the Editor window Double click the Setup icon to launch the setup wizard As you fill in the wizard screens you will come to the Servo Tuner portion 2 Click the Start button to send the pre programmed step output to the drive Notice that the graph display draws the commanded and actual veloci...

Страница 56: ...d set of PIV F gains as a gain set specific to the current feedback source on each axis Up to 5 gain sets can be saved and enabled at any point in a move profile allowing different gains at different points in the profile Feedback Setup SFB Selects the servo feedback device encoder or analog input To use analog input feedback you must first use the ANIFB command to configure the targeted analog in...

Страница 57: ...ion drives 15 contaminants and liquids 7 crossover cable 25 daisy chain RS 232 25 digital inputs on EVM32 43 47 digital outputs on EVM32 43 48 dimensions 6K 6 DIN rail mount 7 diode for outputs 23 drive connections servo 10V 10 step direction 15 drive fault input 11 16 Dynaserv drive connections servo 12 step direction 17 electrical connections See connections electrical noise guidelines 2 enable ...

Страница 58: ...ion process 2 related publications i return procedure 39 RP240 connections 28 RS 232 connections 25 RS 485 connections 26 DIP switches accessing setting 5 S drive connections 16 safety stop switch enable input 9 schematics internal See connections screw terminal adapter 41 servo tuning 51 ship kit 3 EVM32 43 SIM boards EVM32 43 SIM8 AN IN 43 SIM8 IN 43 SIM8 OUT EVM32 43 sizing your power supply 6K...

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