Parker Compumotor 6000 Series, Руководство по установке

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1 2 AT6250/AT6450 Installation Guide
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 (
CW
&
CCW
) limit switches
- Disable the limits with the
LH¯
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 ProgrammerÕs Guide for
in-depth discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
Internal Schematic
CW & CCW 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 execute a move in the opposite
direction and clear the limit by closing the switch (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 ÒhomeÓ reference position. The active level (default
is active low) can be changed with the
HOMLVL
command. You can
also use an encoderÕs Z channel pulse, in conjunction with the home
switch, to determine the home position (this feature is enabled with
the
HOMZ1
command).
Chassis Ground
ISO GND
LIM Connector
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
All limit inputs share the
same circuit design.
6.8 K
W
74HCXX
1
+5VDC
47.5 K
W
HCMOS compatible (switching levels: Low
£
1.00V; High
³
3.5V).
Voltage range = 0-24VDC.
PIN OUTS & SPECIFICATIONS
(9-pin LIM 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
Ñ
IN
IN
IN
Ñ
Ñ
1CW
1CCW
1HOM
GND
2CW
2CCW
2HOM
GND
SHLD
3CW
3CCW
3HOM
GND
4CW
4CCW
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 ÑInternally connected to chassis ground (earth).
Specification for all limit inputs
HCMOS compatible (voltage levels: Low
£
1.00V, High
³
3.25V); internal 6.8 K
W
pull-ups to +5V; voltage range is 0-24V.
Active level for CW & CCW 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).
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