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Chapter 1. Installation

Serial Communication (RS-232C)

Rx
Tx
GND
SHLD

RS-232C Connections

Tx
Rx
GND

RS-232C Daisy-Chain Connections*

Unit 0

Unit 1

Unit 2

Tx
Rx
GND

Daisy Chain to a Computer or Terminal

Stand-Alone Daisy Chain

Be sure to set unique devices addresses for each unit.
To set the address, use the DIP switch (see page 4),
or use the

ADDR

command (see

6000 Series Software Reference).

NOTE: Maximum RS-232C cable length is 50 feet (15.25 meters)

AUX

Rx
Tx
GND
SHLD

Unit 0

Unit 1

Unit 2

Rx
Tx
GND
SHLD

25-Pin COM Port:

9-Pin COM Port:

Serial Port Connection

Pin 2 (Rx)

Pin 3 (Tx)

Pin 5 (GND)

Pin 2 (Tx)

Pin 3 (Rx)

Pin 7 (GND)

Rx
Tx
GND

Pulse Cut-off (P-CUT) Input — Emergency Stop Switch

TRG-A

TRG-B
GND
OUT-A
OUT-B
GND
SHLD
P-CUT

AUX Connector

TTL compatible (switching levels: low

≤

0.4V, high

≥

2.4V).

Voltage range = 0-24V.

Internal Schematic

ISO
GND

6.8 K

Ω

47 K

Ω

74HCTxx

+5VDC

P-CUT connected to GND (normally-closed switch).
If this connection is opened, motion is killed and the
program in progress is terminated.

If the P-CUT input is not grounded when motion is
commanded, motion will not occur and the error
message “

WARNING: PULSE CUT INPUT ACTIVE

”

will be displayed in the terminal emulator.

Artisan Technology Group - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisantg.com

Содержание Compumotor 6200

Страница 1: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

Страница 2: ...NO POWER GREEN RED OFF Compumotor Rx Tx GND SHLD 5V OUT P TRG A TRG B GND OUT A OUT B GND SHLD P CUT RP240 6200 P R O G R A M M 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 5V GND Rx Tx SHLD AC INPUT D R I V E 2 D R I V E 1 ENCODER 2 5V A A B B Z Z GND SHLD ENCODER 1 5V A A B B Z Z GND SHLD Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www a...

Страница 3: ...ry 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 Poole Dorset England BH17 7DX Telephone 44 0 ...

Страница 4: ...ow Voltage Directive 72 23 EEC and the CE Marking Directive 93 68 EEC of the European Community When installed according to the procedures in the main body of this installation guide the 6200 may not necessarily comply with the Low Voltage Directive LVD To install the 6200 so that it is LVD compliant refer to supplemental installation instructions provided in Appendix A If you do not follow these ...

Страница 5: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 6: ... the 6200 you should have a fundamental understanding of Electronics concepts such as voltage current switches Mechanical motion control concepts such as inertia torque velocity distance force Serial communication and terminal emulator experience RS 232C Related Publications 6000 Series Software Reference Parker Hannifin Corporation Compumotor Division part number 88 012966 01 6000 Series Programm...

Страница 7: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 8: ...rrent Mounting the 6200 Connecting all electrical components includes specifications Testing the installation Preparing for what to do next To install the 6200 so that it is LVD compliant refer to the supplemental instructions in Appendix B Appendix C provides guidelines on how to install the 6200 in a manner most likely to minimize the 6200 s emissions and to maximize the 6200 s immunity to exter...

Страница 9: ... sequentially to best approximate a typical installation process 1 Review the general specifications 2 Perform configuration adjustments if necessary 3 Mount the 6200 4 Connect all electrical system components 5 Test the installation 6 Mount the motor and couple the load 7 Program your motion control functions Programming instructions are provided in the 6000 Series Programmer s Guide and in the 6...

Страница 10: ...omparator accepts two phase quadrature incremental encoders with differential recommended or single ended outputs Maximum voltage 5VDC Switching levels are TTL compatible Maximum frequency 1 6 MHz Minimum time between transitions 625 ns 24 General Purpose Programmable TTL compatible with internal 6 8 KΩ pull ups to 5V sourcing current To sink current on PROGRAMMABLE INPUTS connector all programmab...

Страница 11: ...led default The default baud rate is 9600 As an alternative you can use this procedure to automatically match your terminal s speed of 1200 2400 4800 or 9600 baud 1 Set switch 4 to ON 2 Connect the 6200 to the terminal 3 Power up the terminal 4 Cycle power to the 6200 and immediately press the space bar several times 5 The 6200 should send a message with the baud rate on the first line of the resp...

Страница 12: ... to page 4 for instructions 4 20 106 68 2 70 68 58 0 75 19 05 10 80 274 32 10 00 254 00 Provision for 10 Mounting Screws 4 Plcs 0 80 20 32 11 60 294 64 0 60 15 25 7 76 197 10 inches millimeters 8 53 216 66 Environmental Considerations Temperature Operate the 6200 in ambient temperatures between 32 F 0 C and 122 F 50 C Provide a minimum of 2 inches 50 8 mm of unrestricted air flow space around the ...

Страница 13: ...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 SHLD GND ENCODER 1 SHLD GND SHLD GND SHLD GND GND SHLD Shield Pin 8 GND Pin 14 Even numbered pins AC Connector Ground Pin GND SHLD SHLD Terminals SHLD Terminal GND Terminal GND Terminal GND Terminal GND Terminals Isolated Ground EARTH D R I V E 2 GND GND Pins 13 14 D R I V E 1 ENCODER 2 GND GND Terminal SHLD Terminal GND Terminal GND Terminal Opt...

Страница 14: ...in COM Port 9 Pin COM Port Serial Port Connection Pin 2 Rx Pin 3 Tx Pin 5 GND Pin 2 Tx Pin 3 Rx Pin 7 GND Rx Tx GND Rx Tx GND Pulse Cut off P CUT Input Emergency Stop Switch TRG A TRG B GND OUT A OUT B GND SHLD P CUT AUX Connector TTL compatible switching levels low 0 4V high 2 4V Voltage range 0 24V Internal Schematic ISO GND 6 8 KΩ 47 KΩ 74HCTxx 5VDC 7 1 7 P CUT connected to GND normally closed ...

Страница 15: ...e direction High signal on Direction specifies motion in the negative direction 11 Blue pin 16 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 Purple pin 17 Shutdown Return IN Differential output This signal is used to turn off c...

Страница 16: ...und pin 13 Servo Ready pin 16 6200 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 Connector ENCODER Connector In Position pin 4 In Position pin 27 Ground...

Страница 17: ...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 home reference position The active level default is active low can be changed with the HOMLVL command You can also use an encoder s Z channel pulse in conjunction with the home switch to determine the home position this feature is enabl...

Страница 18: ... IN 5VDC output to power the encoder A Channel quadrature signal input A Channel quadrature signal input B Channel quadrature signal input B Channel quadrature signal input Z Channel signal input Z Channel signal input Isolated ground Shield Internally connected to chassis ground earth Specification for all encoder inputs Differential comparator accepts two phase quadrature incremental encoders wi...

Страница 19: ... 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 8 Shield Shield chassis ground 14 Ground Digital ground ...

Страница 20: ...east 1mA of current 6200 AUX 6 8 KΩ 47 KΩ 74HCTxx 5VDC ISO GND Connection to a Sourcing Output Device TRG A TRG B GND OUT A OUT B GND SHLD P CUT 7 1 7 AUX 6 8 KΩ 47 KΩ 74HCTxx 5VDC ISO GND Electronic Device Out 5 24 Volts Output Ground V1 R1 R Typical value for R 450Ω assuming R1 0 Note The value of R may vary depending on the value of R1 and V1 6200 The resistor provides a path for current to flo...

Страница 21: ...t STATUS Check with TIN or INFNC Active level Default is active low but can be changed to active high with the INLVL command Outputs Pin Function Pin Function Internal Schematic Specifications P R O G R A M M A B L E O U T P U T S 1 2 49 50 49 5 VDC 23 Output 13 47 Output 1 LSB 21 Output 14 45 Output 2 19 Output 15 43 Output 3 17 Output 16 41 Output 4 15 Output 17 39 Output 5 13 Output 18 37 Outpu...

Страница 22: ...the inputs to source current see page 4 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 regardless of the type of outp...

Страница 23: ...n collector 7406 Connection to an Inductive Load active low Output Connection OUT P 5V GND 6200 7406 10 0 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 6200 output and the cathode to the supply voltage of the inductive load via an external resistor To size ...

Страница 24: ...put 3 1 2 3 4 5 6 7 8 5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 TM8 Thumbwheel Module 6200 Connection to your own Thumbwheel Module Sign Bit Thumbwheel 1 Thumbwheel 2 Thumbwheel 3 Thumbwheel 4 Thumbwheel 5 Thumbwheel 6 Thumbwheel 7 Thumbwheel 8 Input 9 sign Input 8 MSB Input 7 Input 6 Input 5 LSB Input 4 MSB Input 3 Input 2 Input 1 LSB Output 4 Output 3 Output 2 Output 1 I O GND most significant digit l...

Страница 25: ...e Cable Lead Color Signal Black AC Line White AC Neutral Green Earth Ground 120VAC Input 1 Remove the cover on the EIA plug 2 Build your power cable as shown DO NOT USE THE 120VAC CABLE 3 Slide the power cable into the plug 4 Connect the conductor wires 5 Lock the conductor wires under the clamp 6 Reassemble the plug 25mm 6mm Grounded 240VAC Power Source EIA plug part 44 011905 01 from the ship ki...

Страница 26: ...O signals in the same conduit or wiring trays as high voltage AC wiring or motor cables Reducing noise on limit inputs HOM CW CCW and trigger inputs TRG A and TRG B If you are experiencing noise problems try adding resistors to reduce noise sensitivity see illustration below Long Shielded Cable Add a resistor between the input and 5V this will lower the input impedance and reduce noise sensitivity...

Страница 27: ... for the 6000 Driver and Samples disk you can find these disks in your AT6n50 ship kit 3 In the Setup program s last dialog indicating that Motion Architect has been installed successfully select Yes I want to run Motion Architect now and click the Finish button to launch Motion Architect 4 From Motion Architect s main menu click on the Product pull down menu and click on Selection to invoke the 6...

Страница 28: ...be TPE 4ØØØ 4ØØØ encoders are at position 4000 Enter the ENCØØ command to return the 6200 to the default motor step mode TPM response motor counts motor1 motor2 TPE response encoder counts encoder1 encoder1 Direction of rotation Counter clockwise negative counts Clockwise positive counts Programmable Inputs incl triggers 1 Open the input switches or turn off the device driving the inputs 2 Enter t...

Страница 29: ...nes of 6000 controller code or copy portions of code from previous files You can save program editor files for later use in BASIC C etc or in the terminal emulator or test panel Terminal emulator Communicating directly with the 6200 you can type in and execute controller code transfer code files to and from the 6200 Test panel and program tester You can create your own test panel to run your progr...

Страница 30: ...ing basics Reducing electrical noise Diagnostic LED Test options Technical support Solutions to common problems Resolving serial communication problems Product return procedure Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 31: ...ally generated electromagnetic interference Diagnostic STATUS LED GREEN AC input power supply is connected RED Power reset is required OFF No power Test Options Hardware Test Procedure see pages 20 21 Test Panel Motion Architect s Panel Module allows you to set up displays for testing system I O and operating parameters Motion Test A test program is available to verify that the 6200 is sending pul...

Страница 32: ... RS motor with EC encoder RSxxx xxx EC ERES4000 OEM Series Encoders 83 size ERES4000 57 size ERES2048 2 Set the pulse width to the drive specifications using the PULSE command default pulse width setting is 0 3 µs Encoder counts missing 1 Improper wiring 2 Encoder slipping 3 Encoder too hot 4 Electrical noise 5 Encoder frequency too high 1 Check wiring 2 Check and tighten encoder coupling 3 Reduce...

Страница 33: ...ck power connection STATUS LED should be green 3 a Check the drive fault TASXF report see bit 4 3 b Check the drive condition 4 Enable drive s with the DRIVE11 command Trigger home end of travel or P CUT inputs not working 1 Improper wiring 1 Check wiring for opens shorts and mis wired connections Troubleshooting Serial Communication Problems General Notes Power up your computer or terminal BEFORE...

Страница 34: ...cedure Step 1 Obtain the serial number and the model number of the defective unit and secure a purchase order number to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty Step 2 Before you return the unit have someone from your organization with a technical understanding of the 6200 system and its application include answers to the following questions...

Страница 35: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 36: ...n the European Community Compumotor provides in the ship kit a mating connector for 6200 AC input power connector which can be attached to your LVD approved 240V AC power cord WARNING Do not modify the 120V AC power cord shipped with the 6200 for use with 240V AC power mains This will violate the LVD stipulations regarding the use of properly rated parts Mechanical Installing in an Enclosure The 6...

Страница 37: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 38: ...rbers described in these installation recommendations are made from a low grade ferrite material which has high losses at radio frequencies They therefore act like a high impedance in this waveband The recommended components are produced by Parker Chomerics 617 935 4850 and are suitable for use with cable having an outside diameter up to 10 13mm The specification is as follows Chomerics part 83 10...

Страница 39: ...re not available and additional external filtering is required The solution offered uses a single filter to control both differential and common mode emissions The manufacturer s part numbers for suitable filters are Corcom 3EB1 Corcom World Headquarters Phone 847 680 7400 Fax 847 680 8169 Schaffner FN610 3 06 Schaffner EMC Inc Phone 201 379 7778 Fax 201 379 1151 Mount the filter within 2 inches 5...

Страница 40: ...xternal equipment e g a computer or terminal with the cabinet door open static discharge may cause damage to unprotected inputs AC Input Cable System Earth Point Braided screen Cables AC Input Filter Programmable I O Flat Cable Programmable I O Cable VM50 Remove paint behind this area Encoder Cable SHLD GND 2HOM 2CCW 2CW GND 1HOM 1CCW 1CW LIM 1 2 AUX 2 AXIS INDEXER STATUS O K RESET NO POWER GREEN ...

Страница 41: ...Artisan Technology Group Quality Instrumentation Guaranteed 888 88 SOURCE www artisantg com ...

Страница 42: ...aminants 5 D daisy chain connections 7 DDE6000 22 device address see address diagnostic LED 24 dimensions 5 DIP switch settings address 4 autobaud feature 4 disassembling the 6200 4 drive connections 8 drive fault input 8 in position input 8 resolution 25 E e mail address for feedback i electrical noise 2 24 EMC installation guidelines 31 suppressing 19 emergency stop pulse cutoff switch 7 encoder...

Страница 43: ... stops see end of travel limits schematics internal see also back cover drive inputs and outputs 8 encoder inputs 11 joystick analog inputs 12 limit inputs 10 P CUT input 7 programmable inputs and outputs 14 trigger inputs 13 serial communication RS 232C connections 7 daisy chain connections 7 disable handshaking 26 specifications 3 troubleshooting 26 shielding 2 EMC guidelines 31 I O cables 19 sh...

Страница 44: ...nal low 1 0VDC 30mA output for each differential driver is active high output for each driver is active low Step pulse width is 0 3 µs to 20 µs see PULSE command default is 0 3 µs Step Direction or Shutdown pins 1 2 or 11 ISO GND 5VDC Step Direction or Shutdown pins 9 10 or 12 ISO GND 5VDC Pin Function 1 Step 2 Direction 4 In Position 5 Drive Fault 7 5VDC Output 8 Shield chassis gnd 9 Step Return ...

Страница 45: ...l service in house repair center WE BUY USED EQUIPMENT Sell your excess underutilized and idle used equipment We also offer credit for buy backs and trade ins www artisantg com WeBuyEquipment REMOTE INSPECTION Remotely inspect equipment before purchasing with our interactive website at www instraview com LOOKING FOR MORE INFORMATION Visit us on the web at www artisantg com for more information on ...

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