8
OEM-AT6400 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 (
POS
&
NEG
) limit switches
- Disable the limits with the
LHØ
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 Programmer's Guide for
in-depth discussions about using end-of-travel limits and homing.
CONNECTIONS & INTERNAL SCHEMATICS
Chassis
GND
SHLD - Pin 58
74HCxx
HOM 1 - Pin 21
HCMOS compatible:
Low
≤
1.00V; High
≥
3.25V
47 K
Ω
Resistors
74HCxx
NEG 1 - Pin 19
GND
GND - Pin
20
POS & NEG 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 clear the limit (close the switch) and execute a move in the opposite
direction (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 “home”
reference position. The active level (default is active low)
can be changed with the HOMLVL command.
Internal Schematic
74HCxx
+5V connected to AUX-P (sourcing current).
Pr5V power to the POS, NEG, and HOM input pull-up resistors. As an
alternative, you can connect AUX-P to an external power supply of up to 24VDC.
NOTE: AUX-P is also the pull-up for the TRG inputs.
SINKING CURRENT: To make these inputs sink current, connect AUX-P to GND.
6
.
8 K
Ω
Resistors
AUX-P - Pin
34
+5VDC
+5V - Pin 32
POS 1 - Pin 17
PIN OUTS & SPECIFICATIONS
Pin # In/Out
Name,
Axes 1 & 2
Description
17
19
21
23
25
27
29
31
33
35
37
39
18
20
34
58
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
OUT
–
IN
–
POS1
NEG1
HOM1
POS2
NEG2
HOM2
POS3
NEG3
HOM3
POS4
NEG4
HOM4
+5V
GND
AUX-P
SHLD
Positive-direction end-of-travel limit input
Negative-direction end-of-travel limit input
Home limit input
Positive-direction end-of-travel limit input
Negative-direction end-of-travel limit input
Home limit input
Positive-direction end-of-travel limit input
Negative-direction end-of-travel limit input
Home limit input
Positive-direction end-of-travel limit input
Negative-direction end-of-travel limit input
Home limit input
+5VDC Supply
Ground.
Provides power to the POS, NEG, HOM and TRIG pull-up resistors.
Shield–Internally connected to chassis ground (earth).
Specification for all limit inputs
HCMOS compatible (voltage levels:
Low
≤
1.00V, High
≥
3.25V); internal 6.8
K
Ω
pull-ups to AUX-P terminal; voltage
range is 0-24V.
Active level for POS & NEG 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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