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Chapter 1. Installation

Enable Input

ISO
GND

SHIELD

GND

ENABLE

OUT DIODE

MASTER TRIG

GND

CNTRL-P

LIM-P

TRIG-P

VINref

24 VDC RTN

+24 VDC PWR

Connect normally-closed switch
between ENABLE and GND.

ENABLE: If this connection is opened,
motion is killed and the program in
progress is terminated. If ENABLE is not
grounded when motion is commanded, motion will not
occur and the error message "

WARNING: ENABLE INPUT

ACTIVE

" will be displayed to the terminal emulator.

Internal 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

12.0 K

6.8 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 VINref voltage.

The 6K controller is shipped from the factory with
the

ENABLE

input jumpered to ground, thus allowing

motion “out of the box” for bench-testing purposes.
Use the diagram below as a guide for connecting the

ENABLE

input according to your application’s needs.

Содержание 6K8

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 softwar...

Страница 3: ...M 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 Ana...

Страница 4: ......

Страница 5: ...nsider 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...

Страница 6: ...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...

Страница 7: ...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 Nam...

Страница 8: ...see 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 curre...

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...

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

Страница 11: ...K 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 conduct...

Страница 12: ...ection 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 Tr...

Страница 13: ...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 e...

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 A...

Страница 15: ...VE1 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 disa...

Страница 16: ...umper 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...

Страница 17: ...E 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 Re...

Страница 18: ...er 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 500 resistor assumes the drive fault input is pulled up...

Страница 19: ...ctive 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 locat...

Страница 20: ...ction 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...

Страница 21: ...e 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 DRIV...

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 defa...

Страница 23: ...e 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 Pi...

Страница 24: ...ge 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 l...

Страница 25: ...rigger 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...

Страница 26: ...fferent 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 t...

Страница 27: ...o 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...

Страница 28: ...ommunicate 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 R...

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...

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...

Страница 31: ...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 configure...

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 S...

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 F...

Страница 34: ...ns 3 When finished 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 positiv...

Страница 35: ...rovided 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 com...

Страница 36: ......

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 sol...

Страница 39: ...es 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...

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 en...

Страница 41: ...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...

Страница 42: ...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 shou...

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 t...

Страница 44: ......

Страница 45: ...or 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 conn...

Страница 46: ......

Страница 47: ...k 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...

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 s...

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 1...

Страница 50: ...ler 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 co...

Страница 51: ...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...

Страница 52: ...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 CA...

Страница 53: ...t 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 S...

Страница 54: ......

Страница 55: ...shed 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 w...

Страница 56: ...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 p...

Страница 57: ...on 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 driv...

Страница 58: ...on 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 enab...

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