Parker Compumotor OEM-AT6400 User manual

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Compumotor
Compumotor Division
Parker Hannifin Corporation
p/n 88-014587-01A May 1995
OEM-AT6400
Installation Guide
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6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and
may not be copied, disclosed, 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
whatsoever, including but not limited to lost profits arising from or in any way connected with the use of the equipment or this user guide.
© 1995, Parker Hannifin Corporation
All Rights Reserved
User Information
WARNING
6000 Series products are used to control electrical and mechanical
components of motion control systems. You should test your motion
system for safety under all potential conditions. Failure to do so can result
in damage to equipment and/or serious injury to personnel.
! !
North America and Asia:
Compumotor Division of Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
FaxBack: [phone] or [phone]
BBS: [phone]
e-mail: [email protected]
Internet: http://www.compumotor.com
Europe (non-German speaking) :
Parker Digiplan
21 Balena Close
Poole, Dorset
England BH17 7DX
Telephone: [phone]
Fax: [phone]
Germany, Austria, Switzerland:
HAUSER Elektronik GmbH
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Technical Assistance
Contact your local automation technology center (ATC) or distributor, or ...
Motion Architect is a registered trademark of Parker Hannifin Corporation.
Motion Builder, Motion OCX, Servo Tuner, CompuCAM and DDE6000 are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, DDE and NetDDE are trademarks of Microsoft Corporation.
Motion Toolbox is a trademark of Snider Consultants, Inc.
LabVIEW is a registered trademark of National Instruments Corporation.
E-mail: [e-mail]
Product Feedback Welcome
Automation
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ABOUT THIS BOOK
Chapter 1. Installation
What You Should Have.............................................2
Before You Begin ....................................................2
Electrical Noise.................................................2
Airborne Contaminants.......................................2
General Specifications.............................................3
Configuration/Customization–Optional DIP Switch
Settings............................................................4
PC Card Installation.................................................5
System Electrical Connections
VM60 screw terminal adaptor...............................6
System Electrical Connections..................................7
Motor Drivers....................................................7
End-of-Travel and Home Limit Inputs.....................8
Trigger Connections ..........................................9
General-Purpose Programmable Inputs & Outputs. 10
I/O Cables .....................................................14
Installation Test....................................................15
What's Next?........................................................16
Chapter 2. Troubleshooting
Troubleshooting Basics...........................................18
Reducing Electrical Noise..................................18
Diagnostic LED................................................18
Test Program ..................................................18
Motion Architect's Panel Module .........................19
Technical Support............................................19
Common Problems & Solutions .................................19
Problem/Cause/Solution Table............................19
Interrupt & Address Selection.............................21
Downloading Errors (downloading the operating
system)...................................................21
Product Repair Procedure........................................22
Appendix A
Reducing Electrical Noise........................................23
Index...............................................................25
Purpose of This Book
This book describes how to install and troubleshoot the OEM-AT6400 hardware.
Programming related issues are covered in the 6000 Series Programmer's Guide and the 6000
Series Software Reference Guide.
What You Should Know
To install and troubleshoot the OEM-AT6400, you should have a fundamental understanding
of:
• IBM PC-compatible computer hardware and software operations
• Basic electronics concepts such as voltage, switches, current, etc.
• Basic motion control concepts (such as torque, velocity, distance and force)
Related Publications•6000 Series Software Reference Guide, Parker Hannifin Corporation, Compumotor
Division; part number 88-012966-01
•6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division;
part number 88-014540-01
•Motion Architect User Guide, Parker Hannifin Corporation, Compumotor Division; part
number 88-013056-01
• Current Parker Compumotor Motion Control Catalog
• Operations user guide for the IBM-compatible PC-AT computer
• Schram, Peter (editor). The National Electric Code Handbook (Third Edition). Quincy,
MA: National Fire Protection Association
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1
CHAPTER ONE
Installation
IN THIS CHAPTER
• Product ship kit list
• General specifications table
• PC card installation procedures
• Mounting procedures
• Electrical connection procedures (including specifications)
• Installation test procedures
• Preparation for what to do next
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2 OEM-AT6400 Installation Guide
What You Should Have
Part Name Part Number
If an item is missing,
call the factory (see
phone numbers on
inside front cover).
OEM-AT6400...........................................................................OEM-AT6400
Ship kit: Must be specifically ordered.....................................OEM-AT6400 Shipkit
Includes items below
Installation Guide for OEM-AT6400..................88-014587-01
Response card for manuals...............................88-010867-01
6000 Series Software Reference Guide ............88-012966-01
6000 Series Programmer’s Guide ....................88-014540-01
Motion Architect User Guide .............................88-013056-01
Motion Architect diskettes: Disk 1............95-013070-01
Disk 2............95-013070-02
Operating system/DOS Support diskette:.........95-013069-01
Warranty registration card.................................88-013468-01
Options VM60 Screw Terminal Adaptor................................VM60
60-pin Ribbon cable, 5-foot (w/ connector).............71-014579-01
Before You Begin
WARNINGS
The OEM-AT6400 is used to control your system's electrical and mechanical components.
Therefore, you should test your system for safety under all potential conditions. Failure to do
so can result in damage to equipment and/or serious injury to personnel.
Always remove power to the computer before:
• Installing or removing the OEM-AT6400 PC card
• Adjusting the DIP switches on the OEM-AT6400 PC card after it is installed in the
computer
• Connecting electrical devices to the OEM-AT6400 PC card after it is installed in the
computer
Electrical Noise
The OEM-AT6400 does not have the I/O optical isolation circuitry that is standard for most of
the 6000 Series indexers/controllers. Special care must be taken to minimize electrical noise
in the immediate environment to ensure proper operation of the OEM-AT6400. The
guidelines listed below should help you minimize the potential for electrical noise.
• Do not route high-voltage wires and low-level signals in the same conduit, noise
considerations.
• Ensure that all components are properly grounded.
• Ensure that all wiring is properly shielded.
• Noise suppression guidelines for I/O cables are provided on page 14.
Airborne Contaminants
Contaminants that may come in contact with the OEM-AT6400 should be carefully
controlled. Particulate contaminants, especially electrically conductive material such as metal
shavings, can damage the OEM-AT6400.
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Chapter 1. Installation 3
General Specifications
Parameter Specification
Power
OEM-AT6400 PC Card...........................................5VDC @ 3.5A from the PC-AT bus
Status LED/fault detection........................................Refer to Status LED in Chapter 2
Environmental
Operating Temperature ..........................................32-122°F (0-50°C)
Storage Temperature...............................................-22-185°F (-30-85°C)
Humidity...................................................................0-95% non-condensing
Performance
Position Range.........................................................±2,147,483,648 steps
Velocity Range.........................................................1-1,600,000 steps/sec
Acceleration Range..................................................1-24,999,975 steps/sec2
Stepping Accuracy...................................................±0 steps from preset total
Velocity Accuracy ...................................................±0.02% of maximum rate
Velocity Repeatability .............................................±0.02% of set rate
Motion Algorithm Update Rate................................2 ms
Calculation to determine contouring deviation from an arc
(due to straight-line approximation to a curve):
Error in steps = (Vp ∗ t
2)2
r
Where: Vp= steps/sec, r= radius in steps, t= system update period (2 msec)
Inputs
Home, POS/NEG Limits, Trigger...........................HCMOS compatible*; internal 6.8 KΩpull-ups to AUX-P terminal (connect to internal +5V
or external power supply); Voltage range is 0-24V.
6 General-Purpose Programmable .......................HCMOS compatible* with internal 6.8 KΩpull-ups to IN-P terminal (connect to internal +5V
or external power supply);. Voltage range = 0-24V.
Outputs
4 General-Purpose Programmable........................Open collector output with 4.7 KΩpull-ups. Can be pulled up by connecting OUT-P to +5V,
or to user-supplied voltage of up to 24V. Max. voltage in the OFF state (not sinking
current) = 24V, max. current in the ON state (sinking) = 30mA..
Step, Direction..........................................................Differential line driver output. Signal high ≥3.5VDC @ +30mA, signal low ≤1.0VDC @
-30mA. +output for each differential driver is active high; -output for each driver is active
low. Step pulse width range is 0.3 µs to 20 µs (depends on the value of the PULSE
command–default is 0.3 µs).
+5V Output................................................................+5V terminals are available on the 60-pin connector. Load limit (total load for all I/O
connections) is typically 1.0A , and depends on the internal power supply of your PC.
* HCMOS-compatible switching voltage levels: Low ≤1.00V, High ≥3.25V.
TTL-compatible switching voltage levels: Low ≤0.4V, High ≥2.4V.
NOTE: The OEM-AT6400 does not have any optical isolation
circuity for the Input/Output connections. See Appendix A for
information on reducing electrical noise.
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4 OEM-AT6400 Installation Guide
Configuration/Customization–Optional DIP Switch Settings
DIP Switch SW1
Factory Default Setting Shown
OEM-AT6400 PC Card
DIP Switch SW2
Factory Default Setting Shown
1 512 200 OFF
2 256 100 OFF
3 128 80 ON
46440ON
53220ON
61610ON
788ON
Switch # Binary Value Default Setting
Decimal Hex
Switch # Interrupt Description Default Setting
1 IRQ3 Serial Port (COM4) OFF
2 IRQ4 Serial Port (COM3) OFF
3 IRQ5 Parallel Printer OFF
4 IRQ7 Parallel Printer OFF
5 IRQ10 Unassigned OFF
6 IRQ11 Unassigned OFF
7 IRQ12 Unassigned OFF
8 IRQ15 Unassigned OFF
Switches are positive-true (ON selects the interrupt setting).
Only one switch may be ON at one time.
000-255 000-0FF Used by AT mother-board
496-511 1F0-1FF Hard Disk (AT)
512-527 200-20F Game Controller
528-543 210-21F Expansion Unit
568-571 238-23B Bus Mouse
572-575 23C-23F Alternate Bus Mouse
624-639 270-27F Parallel Printer Port
688-734 2B0-2DF EGA Card
736-743 2E0-2E7 GPIB
744-751 2E8-2EF Serial Port (4)
760-767 2F8-2FF Serial Port (2)
768-799 300-31F Prototype Card
800-815 320-32F Hard Disk (XT)
888-895 378-37F Parallel Printer
896-911 380-38F SDLC
928-943 3A0-3AF SDLC
944-955 3B0-3BB Monochrome Card
956-959 3BC-3BF Parallel Printer
960-975 3C0-3CF EGA Card
976-991 3D0-3DF CGA Card
1000-1007 3E8-3EF Serial Port (3)
1008-1015 3F0-3F7 Floppy Disk
1016-1023 3F8-3FF Serial Port (1)
Computer I/O Address Space Map
Address Range Description
Decimal Hex
INTERRUPTS (SW2) ADDRESS (SW1, switches 1-7)
Switches are negative-true (OFF selects the address
value). The sum of the binary values of DIP switches
1-7 comprise the PC card's device address. The
device address must be an even multiple of eight.
Switch #8 ON = 16-Bit Transfer Mode (default)
Switch #8 OFF = 8-Bit Transfer Mode
TRANSFER MODE (SW1, switch 8)
The 16-bit transfer mode offers higher performance than the 8-bit mode.
Switch #8
Default Settings
Address = 300 Hex (768 Decimal)
Transfer Mode = 16-Bit
Interrupts Selected = None
NOTE
If you change the Address or
Interrupt settings and you intend
to use Motion Architect, be sure to
configure the same settings in
Motion Architect's Terminal or
Panel Modules.
N
O
87643521
N
O
87643521
= ON position
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Chapter 1. Installation 5
PC Card Installation
Step 1 Turn off the power to the computer.
Step 2 Remove the computer's cover to access the internal slots where peripheral cards are added.
Step 3 Remove the sheet metal bracket that covers the external access slot. Save the screw. On IBM
AT and IBM AT-compatible computers, this is at the rear access panel where all external
connections are made. This bracket is replaced by the bracket on the end of the OEM-AT6400
card.
Step 4 Select a 16-bit slot to install the OEM-AT6400 card.
CAUTION
While handling the OEM-AT6400 card, be sure to observe proper grounding techniques to
prevent electro-static discharge (ESD).
Step 5 Make sure that there are two empty slots immediately next to the right side (when you are
facing the front of the computer) of this slot. (This is to allow enough room to maneuver
when attaching the 60-pin ribbon cable.) Temporarily remove cards from adjacent slots, if
necessary.
Step 6 -FOR VM60 OPTION ONLY-
Orienting the 60-pin ribbon connector with the stripe on top and the holes of the connector
facing to the left (when you are facing the front of the computer), insert the connector into the
computer chassis through the access slot for the designated card slot. Pull several inches of
the cable through the slot, folding it to the right (when you are facing the front of the
computer) and flat against the back of the chassis to get it out of the way. Secure the cable
and connector temporarily to leave both hands free for installation of the OEM-AT6400 card.
(The connector can be temporarily pushed back through one of the empty adjacent access slots
to secure it.) See the drawing on the next page.
Step 7 Insert the bottom corner of the OEM-AT6400 PC card into the card guide slot near the front of
the computer. Ease both ends of the card simultaneously down into the computer until the
card's edge connector reaches the computer's mating connector (see drawing below). (If using
the VM60, make sure that the ribbon cable is properly seated with the bracket on the OEM-
AT6400 card.) Adjust the card until the edge connectors align and press it down into the
mating connector.
Step 8 -FOR VM60 OPTION ONLY-
Adjust the 60-pin ribbon cable to align the mating connector with the 60-pin connector on the
OEM-AT6400. (The 60-pin ribbon cable can be somewhat stiff. Bend it gently when
aligning the connectors.) When properly aligned, gently press the connector until it seats with
the mating connector. If the connectors need to be separated for troubleshooting or repair
purposes, insert a small slot-head screw driver into the slot on the top of the mating connector
(looking down into the chassis), between the connector body and the metal tab, and twist.
NOTE: Make sure that the 60-pin ribbon cable is installed with the stripe on top before
attempting to use the OEM-AT6400. Also, make sure the cable end installed on the VM60
has the stripe oriented towards the pin-1 side of the VM60. Improper installation of this cable
can severely damage the OEM-AT6400.
Step 9 Using the screw that secured the original access slot cover bracket, fasten the OEM-AT6400
mounting bracket to the computer chassis (see drawing above).
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