Parker 6K Series Manual

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User Information
6K Series products and the information in this 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 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 guide.
© 1998-2005 Parker Hannifin Corporation
All Rights Reserved
Motion Planner and Servo Tuner are trademarks of Parker Hannifin Corporation.
Microsoft and MS-DOS are registered trademarks, and Windows, Visual Basic, and Visual C++ are trademarks of
Microsoft Corporation.
Warning —6K 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.
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: [phone] or [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parkermotion.com
Germany, Austria, Switzerland
Parker Hannifin
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Europe (non-German speaking)
Parker Hannifin plc
Electromechanical Automation, Europe
Arena Business Centre
Holy Rood Close
Poole
Dorset, UK
BH17 7BA
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Italy
Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: [phone]
Fax: [phone]
Email: [email protected]
Internet: http://www.parker-emd.com
Technical Support E-mail
[email protected]
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Table of Contents
About this Guide...........................................................................................iv
What You Should Know ....................................................................... iv
Related Publications............................................................................. iv
Important User Information......................................................................... v
Change Summary .........................................................................................vi
Revision B Changes .................................................................................. vi
Chapter 1. Installation...................................................................................1
Before You Begin .......................................................................................2
Recommended Installation Process .....................................................2
Electrical Noise Guidelines ...................................................................2
6K Series Controller Ship Kit......................................................................3
Optional Accessories ............................................................................3
6K Series General Specifications...............................................................4
RS-485 Setup (Optional) ............................................................................5
6K Series Dimensions & Mounting.............................................................6
Dimensions............................................................................................6
Mounting................................................................................................7
6K Series Electrical Connections ...............................................................8
Enable Input ..........................................................................................9
Drives: Servo (±10V) Drives................................................................10
Drives: Step & Direction Drives...........................................................17
Encoders .............................................................................................23
Limit Inputs ..........................................................................................24
Onboard Programmable Inputs and Outputs ......................................25
Communication Interface ....................................................................28
RP240 Remote Operator Panel ..........................................................32
Expansion I/O......................................................................................32
24 VDC Power Input............................................................................33
Testing the Installation..............................................................................34
What’s Next? ............................................................................................35
Chapter 2. Troubleshooting........................................................................36
Troubleshooting Basics ............................................................................37
Technical Support ...............................................................................37
Solutions to Common Problems...............................................................38
Resolving Serial Communication Problems .............................................42
Product Return Procedure........................................................................43
Appendix A. VM25 Installation ...................................................................44
Appendix B. EVM32 Installation.................................................................45
EVM32 Description...................................................................................45
EVM32 Specifications...............................................................................46
EVM32 Dimensions ..................................................................................48
EVM32-ll Dimensions ...............................................................................49
Installing the SIM Boards..........................................................................50
Electrical Connections..............................................................................52
Connecting the 6K controller and EVM32 I/O bricks...........................52
Jumpers...............................................................................................53
24 VDC power input ............................................................................53
Reed Relay Outputs (SIM8-OUT-RLY10)...........................................54
Digital Inputs (SIM8-IN-EVM32)..........................................................55
Digital Outputs (SIM8-OUT-NPN and SIM8-OUT-PNP) .....................56
Solid State Relay Outputs (SIM8-OUT-SSR)......................................57
High Current Relay Outputs (SIM8-OUT-HCR) ..................................57
Analog Inputs (SIM8-AN-IN) ...............................................................58
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Analog Outputs (SIM8-AN-OUT).........................................................58
Appendix C. Servo Tuning..........................................................................59
To tune your servo system ..................................................................59
Tuning-Related Commands ................................................................62
About this Guide
This document is designed to help you install and troubleshoot your 6K Series controller.
Programming related issues are covered in the 6K Series Programmer’s Guide and the 6K Series
Command Reference.
What You Should Know
To install and troubleshoot the 6K Series controller, 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.
•Ethernet or serial (RS-232 or RS-485) communication, depending on which communication
protocol you are using.
Related Publications
•6K Series Command Reference, Parker Hannifin Corporation, Electromechanical
Automation Division; part number 88-017136-01
•6K Series Programmer’s Guide, Parker Hannifin Corporation, Electromechanical Automation
Division; part number 88-017137-01
•Ethernet Networking for 6K and Gem6K, Parker Hannifin Corporation, Electromechanical
Automation Division (available on at www.parkermotion.com)
•COM6srvr for the 6K and Gemini Series, Parker Hannifin Corporation, Electromechanical
Automation Division; part number88-020680-01
•Current Parker Hannifin Motion Control Systems catalog
•Schram, Peter (editor). The National Electric Code Handbook (Third Edition). Quincy, MA:
National Fire Protection Association
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Important User Information
It is important that motion control equipment is installed and operated in such a way that all
applicable safety requirements are met. It is your responsibility as an installer to ensure that you
identify the relevant safety standards and comply with them; failure to do so may result in damage
to equipment and personal injury. In particular, you should study the contents of this user guide
carefully before installing or operating the equipment.
The installation, set up, test, and maintenance procedures given in this guide should only be
carried out by competent personnel trained in the installation of electronic equipment. Such
personnel should be aware of the potential electrical and mechanical hazards associated with
mains-powered motion control equipment—please see the safety warnings below. The individual
or group having overall responsibility for this equipment must ensure that operators are
adequately trained.
Under no circumstances will the suppliers of the equipment be liable for any incidental,
consequential or special damages of any kind whatsoever, including but not limited to lost profits
arising from or in any way connected with the use of the equipment or this guide.
Warning — High-performance motion control equipment is capable of producing rapid movement
and very high forces. Unexpected motion may occur especially during the development of
controller programs. KEEP WELL CLEAR of any machinery driven by stepper or servo motors.
Never touch any part of the equipment while it is in operation.
This product is sold as a motion control component to be installed in a complete system using
good engineering practice. Care must be taken to ensure that the product is installed and used in
a safe manner according to local safety laws and regulations. In particular, the product must be
positioned such that no part is accessible while power may be applied.
This and other information from Parker Hannifin Corporation, its subsidiaries, and authorized
distributors provides product or system options for further investigation by users having technical
expertise. Before you select or use any product or system, it is important that you analyze all
aspects of your application and review the information concerning the product in the current
product catalog. The user, through its own analysis and testing, is solely responsible for making
the final selection of the system and components and assuring that all performance, safety, and
warning requirements of the application are met.
If the equipment is used in any manner that does not conform to the instructions given in this user
guide, then the protection provided by the equipment may be impaired.
The information in this user guide, including any apparatus, methods, techniques, and concepts
described herein, are the proprietary property of Parker Hannifin or its licensors, 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
modify equipment and user guides without prior notice. No part of this user guide may be
reproduced in any form without the prior consent of Parker Hannifin.
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Change Summary
Use the change summary below to view the latest additions, changes, and corrections to the 6K
Hardware Installation Guide.
Revision B Changes
Documents 88-017547-01B supersedes documents 88-017547-01A. Changes associated with
the 6K Hardware Installation Guide, and document clarifications and corrections are as follows:
Topic Description
Ship Kit Corrected Ship Kit part numbers.
Servo Tuning Updated the servo tuning procedure.
Encoder Schematic Updated connector schematic.
EVM32 family Added EVM-ll, SIM8-OUT-SSR, and SIM8-OUT-HCR.
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CHAPTER ONE
Installation
Chapter 1. Installation
IN THIS CHAPTER
Things to consider 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) .....................8
Testing the installation..................................................................................34
Preparing for what to do next .......................................................................35
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26K Hardware Installation Guide
Before You Begin
Warning — The 6K controller 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 6K controller before
Connecting electrical devices (e.g. drive, encoder, I/O brick, inputs, outputs, etc.)
Accessing and adjusting internal DIP switches
Recommended Installation Process
1. Check the ship kit to make sure that you have all the items (see page 3).
2. Review the general specifications table (see page 4).
3. (optional) Set internal DIP switches for using the “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 pages 8-33).
Installation instructions for the EVM32 expansion I/O are provided on page 45.
6. Test the installation (see page 34).
7. Mount the motors and/or couple the loads.
8. Tune any servo axes or axes using the ZETA drive. Use the tuning utility in Motion Planner (see page
59).
9. Program your motion control functions. Programming instructions are provided in the 6K Series
Programmer’s Guide and the 6K Series Command Reference. Use the programming tools provided in
Motion Planner (found in your ship kit).
Electrical Noise Guidelines
•Do not route high-voltage wires and low-level signals in the same conduit.
•Ensure that all components are properly grounded.
•Ensure that all wiring is properly shielded.
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Chapter 1. Installation 3
6K Series Controller Ship Kit
Part Name Part Number
One of the following 6K products:
6K2 two-axis controller with ship kit (see 6K-KIT list below).................................................... 6K2
6K2 without ship kit.......................................................................................................... 6K2-NK
6K4 four-axis controller with ship kit (see 6K-KIT list below)................................................... 6K4
6K4 without ship kit.......................................................................................................... 6K4-NK
6K6 six-axis controller with ship kit (see 6K-KIT list below)..................................................... 6K6
6K6 without ship kit.......................................................................................................... 6K6-NK
6K8 eight-axis controller with ship kit (see 6K-KIT list below) ................................................. 6K8
6K8 without ship kit.......................................................................................................... 6K8-NK
Ship kit items (6K-KIT): *
6K Series Hardware Installation Guide.................................................................................... 88-017547-01
6K Series Command Reference.............................................................................................. 88-017136-01
6K Series Programmer’s Guide............................................................................................... 88-017137-01
Motion Planner CD-ROM......................................................................................................... 95-017633-01
Ethernet cable (5-foot, RJ-45, cross-over)............................................................................... 71-017635-01
Peel-and-stick labels for onboard I/O cables........................................................................... 87-017636-01
* The panel mounting kit (part number 74-018177-01), which includes two mounting brackets and four
screws (6-32 x ¼), is included with all 6K shipments, independent of the 6K-KIT.
NOTE: If an Item is missing, call the factory (see phone numbers on the inside front cover).
Optional Accessories
Part Name Part Number
Drive cable to Parker step & direction drives, 10-foot ............................................................. 71-016137-10
Drive cable to ±10V drives, 10-foot (no connector at drive end).............................................. 71-017003-10
VM25 25-pin screw-terminal adapter for onboard I/O (with 2-foot cable) ................................ VM25
60 Watt power supply (DIN rail mountable)............................................................................. PS-60W
EVM32 expansion I/O modules. Each module can hold up to
four SIM cards for total of up to 128 I/O points. Up to eight EVM32
modules may be connected to your 6K controller.
EVM32 baseboard, DIN rail mountable (with 2-foot cable) ..................................... EVM32-BASE
SIM card with eight digital inputs............................................................................. SIM8-IN
SIM card with eight digital outputs........................................................................... SIM8-OUT-
EVM32
SIM card with eight 12-bit analog inputs ................................................................. SIM8-AN-IN
100-foot cable.......................................................................................................... 71-016949-100
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46K Hardware Installation Guide
6K Series General Specifications
Parameter Specification
Power (DC input)................................................... 24 VDC ±10%, 2A max. (current requirements depend on type/amount of I/O used)
Environmental
Operating temperature........................................ 32 to 122°F (0 to 50°C)
Storage temperature........................................... -22 to 185°F (-30 to 85°C)
Humidity.............................................................. 0 to 95% non-condensing
Performance
Command output ................................................ ±10V or Step & Direction
Servo update ...................................................... As fast as 62.5 µs per axis
Stepping accuracy .............................................. ±0 counts from preset total
Position range..................................................... ±2,147,483,648 counts
Velocity range ..................................................... Stepper axes: 1 to 2,000,000 counts/sec; Servo axes: 1 to 12,000,000 counts/sec;
Acceleration range.............................................. 1 to 50,000,000 counts/sec/sec
Communication Interface
Serial
Connection .................................................. RS-232: 3-wire connections (Rx, Tx and GND) on “RS-232” or “RS-232/485”
connectors. The “RS-232/485” connector’s default configuration is for RS-232 and set
for use with an RP240 (see page 32).
RS-485: 2- and 4-wire connections to “RS-232/485” connector. Requires DIP switch
changes (see page 5).
Maximum units in daisy chain ..................... 99 (use ADDR command to set individual addresses for each unit).
Communication parameters ........................ 8 data bits; No parity; Baud: 9600 (set with BAUD command; range: 1200-38400).
Ethernet .............................................................. 10Base-T (10Mbps twisted pair); TCP/IP protocol. RJ-45 connector. Default IP
address is 192.168.10.30 (use NTADDR on RS-232 port to change address).
Onboard Inputs
Encoder inputs.................................................... Differential comparator accepts two-phase quadrature incremental encoders with
differential or single-ended outputs. To use single-ended encoders, jumper pin 8 to
pin 9 (not available on Master Encoder connector). The “Master Encoder” connector
may not be used for servo feedback or stepper stall detect.
Maximum voltage = 5VDC. Switching levels (TTL): Low ≤0.4V, High ≥2.4V.
Maximum frequency = 12.0 MHz post quadrature.
Limit inputs (“LIMITS/HOME” connectors)................ Voltage range = 0-24 VDC. Factory default is sourcing current, voltage reference is
24 VDC*. To make all limit inputs sink current, connect the “LIM-P” terminal to the
“GND” terminal (see connector on top of 6K chassis).
Trigger inputs (“TRIGGERS/OUTPUTS” connectors).. Voltage range = 0-24 VDC. Factory default is sourcing current, voltage reference is
24 VDC*. To make all trigger inputs sink current, connect the “TRIG-P” terminal to the
“GND” terminal (see connector on top of 6K chassis).
Master trigger input (“MASTER TRIG”) .................... (same specification as the rest of the trigger inputs)
Drive Fault input (pin 5 on “DRIVE” connectors) ... Voltage range = 0-24 VDC. Factory default is sourcing current, voltage reference is
24 VDC*. To make all drive fault inputs sink current, connect the “CNTRL-P” terminal
to the “GND” terminal (see connector on top of 6K chassis).
“ENABLE” input .................................................. Voltage range = 0-24 VDC. Voltage reference is 24 VDC*. Internal 6.8 KΩpull-up to
24 VDC. If this input 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. (see connector on top of 6K chassis).
Onboard Outputs
Digital outputs (“TRIGGERS/OUTPUTS” connectors). Open-collector outputs; will sink up to 300 mA.
+5VDC output (pin 1 on “ENCODER”) .................... Internally supplied +5VDC. Provides up to 250 mA per encoder.
Servo drive command out (pin 3 on “DRIVE”) ....... Command signal output to the drive. ±10VDC analog output. 12-bit DAC. Load should
be > 2 KΩimpedance.
Servo drive shutdown (pins 7 & OUT DIODE”)8 on “DRIVE”) Shutdown relay output. Max rating: 175VDC, 0.25A, 3W.
Step, Direction, Shutdown (pins 1,2,11 on “DRIVE”) Differential line drive output. Signal high > 3.5VDC @ +30 mA,
signal low < 1.0VDC @ -30 mA. +output for each driver is active high, -output is
active low. Step pulse width is 0.3-20 µs (depending on PULSE command — default is
0.5 µs).
Flyback diode output (“OUT DIODE”) ...................... Connected to 24 VDC power with external jumper — allows you to use internal
flyback diode for onboard outputs that are driving inductive loads.
DISCONNECT the jumper if the onboard outputs are not driving inductive loads.
* The voltage reference (VINref) is +24 VDC, unless you connect an external 5-24 VDC supply to the “VINref” terminal (see connector on
top of 6K chassis). Switching levels: Low ≤1/3 VINref, High ≥2/3 VINref.
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Chapter 1. Installation 5
RS-485 Setup (Optional)
READ THIS FIRST— The “RS-232/485” connector (also referred to as “COM2”) is factory-configured for RS-232 communication; this makes
it compatible with an RP240 remote operator panel. If you are not using RS-485 communication, skip this section and proceed to Mounting.
Caution — Remove power before removing the 6K controller’s enclosure.
While handling the 6k controller’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- Wire RS-232
8 2-wire RS-485 ON OFF OFF
7 4-wire RS-485 OFF ON OFF
6 Reserved OFF OFF OFF
5 Enable RS-485 ON ON OFF
4 120ΩRx termination resistor ON * ON OFF
3 120ΩTx termination resistor ON * ON OFF
2 681ΩTx+ bias resistor ON ON OFF
1 681ΩTx- bias resistor ON ON OFF
* For 2-wire RS-485, use switch #3 or switch #4 for 120Ωtermination (not both).
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66K Hardware Installation Guide
6K Series Dimensions & Mounting
Dimensions
6K2 & 6K4
6K6 & 6K8
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Chapter 1. Installation 7
Mounting
Environmental Considerations
Temperature—Operate the 6K in ambient temperatures between 32°F (0°C) and 122°F (50°C). Provide a
minimum of 4 inches (100.6 mm) of unrestricted air-flow space around the 6K 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 conductive material,
such as metal shavings and grinding dust, can damage the 6K. No not allow liquids or fluids to come in
contact with the 6K or its cables.
Mounting Option — DIN Rail
Mounting Option — Brackets (brackets provided in ship kit)
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86K Hardware Installation Guide
6K Series Electrical Connections
Encoder Connections. See page 19.
Drive Connections. See page 10 for servos, page 15 for steppers.
Trigger Input Connections. See page 21.
Programmable Outputs. See page 21.
Limit Input Connections. See page 20.
Master Encoder Connections. See page 19.
Ethernet Connection. See page 25.
RS-232 (“COM1”). See page 25.
Expansion I/O Connection.
(“EVM32”) See page 43.
“COM2”:
RP240 (page 28).
RS-485 (page 5 & 26)
Auxiliary Connections
•+24 VDC PWR .........+24 VDC power input. See page 29.
•24 VDC RTN............. 24 VDC power return. See page 29.
•VINref .......................Voltage reference for trigger, limit, drive fault, and enable inputs (default is 24 VDC; if 24 VDC is
desired, it is not necessary to connect an external power source to the VINref terminal).
Switching: ≤1/3 VINref = Low; ≥2/3 VINref = High.
•TRIG-P * ................... Pull-up for trigger inputs. No connection necessary for pull-up to 24 VDC. See page 21.
•LIM-P *...................... Pull-up for limit inputs. No connection necessary for pull-up to 24 VDC. See page 20.
•CNTRL-P *................ Pull-up for drive fault inputs. No connection necessary for pull-up to 24 VDC. See page 10 and 15.
•GND.......................... Isolated logic ground.
•MASTER TRIG ......... Master Trigger Input. See page 10.
•OUT DIODE..............The 6K is shipped from the factory with this pin connected to 24 VDC power with an external
jumper; this uses the internal flyback diode for onboard outputs that are driving inductive loads.
DISCONNECT the jumper if the onboard outputs are not driving inductive loads.
•ENABLE ...................Enable Input (must be connected to GND to allow motion). See page 9.
•GND.......................... Isolated logic ground.
•SHIELD..................... Internally connected to chassis earth ground.
* The only reason to use the pull-up terminals is to change the respective inputs from sourcing VINref (factory default) to
sinking. If sourcing inputs is appropriate for your application, then leave the pull-ups not connected. Note that the factory
default is for the inputs to source 24 VDC; if sourcing other than 24 VDC is desired, connect the other voltage to the
VINref terminal (e.g., to source 12VDC, connect a user-supplied 12VDC supply to the VINref terminal.
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Chapter 1. Installation 9
Enable Input
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.
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10 6K Hardware Installation Guide
Drives: Servo (±10V) Drives (“DRIVES” connectors)
Internal Schematics
Drive Cable:
Maximum recommended length is 15 feet (4.56 m).
Use 22 AWG wire.
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Chapter 1. Installation 11
Pin Outs & Specifications — Servo Drives Only (15-Pin “Drive” Connectors)
Pin * Name In/Out 71-017003-10
Cable Colors *** Description
3 CMD + OUT Black Command signal output to the drive. ±10VDC analog output. 12-bit DAC. Load should be >2kΩ
impedance.
5 DFT IN Green Drive fault input. Set active level with the DRFLVL command (default is active low). The drive
fault input will not be recognized until you send a DRFEN1 command (enables the input) to the
axis. Voltage range for the DFT input is 0-24V. Switching levels: Low ≤1/3 VINref voltage, High
≥2/3 VINref voltage (factory default VINref voltage is +24 VDC, but you can connect a different
voltage to the VINref terminal**). To make DFT a sinking input, connect the CNTRL-P
terminal** to the GND terminal**.
6 CMD – IN Red Command signal return.
7 SHTNO OUT Brown Shutdown relay output to drives that require an open contact to disable the drive. The shutdown
relay is active (disabling the drive) when no power is applied to the 6K. When the 6K is
powered up, the shutdown relay remains active until you issue the DRIVE1 command to the
axis. Max. rating: 175 VDC, 0.25A, 3W.
Shutdown active (DRIVEØ): this output is disconnected from COM.
Shutdown inactive (DRIVE1): 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 (disabling the drive) when no power is applied to the 6K. When the 6K
is powered up, the shutdown relay remains active until you issue the DRIVE1 command to the
axis. Max. rating: 175 VDC, 0.25A, 3W.
Shutdown active (DRIVEØ): this output is internally connected to COM.
Shutdown inactive (DRIVE1): this output is disconnected from COM.
(See schematic above)
13 ISO GND ----- White Isolated logic ground.
14 COM ----- Yellow Signal common for shutdown. Not connected to any ground or other COM.
15 AGND ----- Blue Analog ground.
* Pin 1, 2, 4, and 9-12 are reserved for connection to a step & direction drive (see page 17).
** The VINref, CNTRL-P, and GND terminals are located on the screw-terminal connector on top of the 6K chassis.
*** The servo drive cable (p/n 71-017003-10) is a 10-foot cable with no connector on the drive end of the cable. It is sold as an accessory.
CONNECTIONS TO THE APEX SERIES DRIVE
APEX Drive Connections 6K Connections
Signal Name Signal Name Connector Pin
Enable In ↔SHTNO Drive 7
Fault Out ↔DFT Drive 5
GND ↔AGND Drive 15
COM Drive 14
Command + ↔CMD + Drive 3
Command – ↔CMD – Drive 6
CHA + ↔A + Encoder 2
CHA – ↔A – Encoder 3
CHB + ↔B + Encoder 4
CHB – ↔B – Encoder 5
CHZ + ↔Z + Encoder 6
CHZ – ↔Z – Encoder 7
GND ↔GND Encoder 9
Jumper AGND to COM.
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12 6K Hardware Installation Guide
CONNECTIONS TO THE ARIES SERIES DRIVE
Aries Drive Connections 6K Connections
Signal Name Connector Pin Signal Name Connector Pin
GND Drive I/O 2
↔GND Encoder 9
Enc out A+ Drive I/O 3 ↔A+ Encoder 2
Enc out A- Drive I/O 4 ↔A- Encoder 3
Enc out B+ Drive I/O 5 ↔B+ Encoder 4
Enc out B- Drive I/O 6 ↔B- Encoder 5
Enc out Z+ Drive I/O 7 ↔Z+ Encoder 6
Enc out Z- Drive I/O 8 ↔Z- Encoder 7
ENABLE+ Drive I/O 1
↔SHUTDOWN- Drive 12
FAULT+ Drive I/O 9
↔DRF Drive 5
AIN+ Drive I/O 14
↔CMD+ Drive 3
AIN- Drive I/O 15
↔CMD- Drive 6
FAULT- Drive I/O 16
↔GND Drive 13
GND Drive I/O 17
↔GND Drive 13
ENABLE- Drive I/O 21
↔SHUTDOWN+ Drive 11
CONNECTIONS TO THE BD-E DRIVE
BD-E Drive Connections 6K Connections
Signal Name Connector Pin Signal Name Connector Pin
V2 User I/O 1
↔CMD – Drive 6
V1 User I/O 2
↔CMD + Drive 3
GND User I/O 4
↔GND Encoder 9
RST User I/O 5
↔COM Drive 14
+15V User I/O 6
↔SHTNO Drive 7
SHTNC Drive 8
FT User I/O 9
↔DFT Drive 5
AOP User I/O 10
↔A + Encoder 2
AOP User I/O 11
↔A – Encoder 3
BOP User I/O 12
↔B + Encoder 4
BOP User I/O 13
↔B – Encoder 5
ZOP User I/O 14
↔Z + Encoder 6
ZOP User I/O 15
↔Z – Encoder 7
NOTE: These connections will work only of the BD-E’s jumper LK2 is set to
position B (this is not the factory default setting).
Jumper SHTNC to ground (GND).
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Chapter 1. Installation 13
CONNECTIONS TO THE COMPAX3 DRIVE
Compax3 Drive Connections 6K Connections
Signal Name Connector Pin Signal Name Connector Pin
Analog input + x11 9 ↔CMD+ Drive 3
Analog input - x11 11 ↔CMD- Drive 6
Output 0 x12 2 ↔DFT Drive 5
GND 24V x12 15 ↔GND Drive 13
Input 0 x12 6 ↔COM Drive 14
Input 1 x12 7 ↔SHTNO Drive 7
Input 2 x12 8
24 V+ Out x12 1
24V In for
Outputs x12 11
A x11 7
↔A+ Encoder 2
A/ x11 6
↔A- Encoder 3
B x11 8
↔B+ Encoder 4
B/ x11 12
↔B- Encoder 5
N x11 14
↔Z+ Encoder 6
N/ x11 13
↔Z- Encoder 7
GND x11 15
↔GND Encoder 9
CONNECTIONS TO THE DYNASERV DRIVE
Dynaserv Drive Connections 6K Connections
Signal Name Connector Pin Signal Name Connector Pin
A + DN1 13 ↔A + Encoder 2
V1 DN1 14
↔A – Encoder 3
SRVON DN1 23
↔SHTNO Drive 7
VCC DN1 24
↔+5V Encoder 1
B + DN1 29 ↔B + Encoder 4
B – DN1 30 ↔B – Encoder 5
Z + DN1 43 ↔Z + Encoder 6
Z – DN1 44 ↔Z – Encoder 7
VIN DN1 49
↔CMD + Drive 3
AGND DN1 50
↔AGND Drive 15
COM Drive 14
GND Encoder 9
NOTE: The Dynaserv’s default setting is for Position Mode (for accepting step
and direction command signals). The connections above assume the
Dynaserv is reconfigured for Velocity Mode or Torque Mode. Refer to
the Dynaserv user guide for additional information.
Jumper COM to ground (GND).
Jumper pins 6 & 8.
Jumper pins
1, 7, & 11.
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14 6K Hardware Installation Guide
CONNECTIONS TO THE DYNASERV GE DRIVE
Dynaserv GE Drive Connections 6K Connections
Signal Name Connector Pin Signal Name Connector Pin
ACMD IN+ CN4 35 ↔CMD+ Drive 3
ACMD IN- CN4 36 ↔CMD- Drive 6
DRV RDY OUT CN4 4 ↔DFT Drive 5
COMPN1 CN4 2
↔GND Drive 13
COMPN1 CN4 2
↔COM Drive 14
SERVO ON IN CN4 20 ↔SHTNO Drive 7
COMP1 CN4 1
↔5 VOLTS+ Encoder 1
UA OUT+ CN4 9 ↔A+ Encoder 2
UA OUT- CN4 10 ↔A- Encoder 3
DB OUT+ CN4 11 ↔B+ Encoder 4
DB OUT- CN4 12 ↔B- Encoder 5
Z OUT+ CN4 13 ↔Z+ Encoder 6
Z OUT- CN4 14 ↔Z- Encoder 7
COMPN1 CN4 2
↔GND Encoder 9
CONNECTIONS TO THE LINEARSERV DRIVE
Linearserv Connections 6K Connections
Signal Name Connector Pin Signal NameConnector Pin
Com + CN1 1 ↔+5V Encoder 1
Servo On – CN1 5 ↔SHTNO Drive 7
A + CN1 17 ↔A + Encoder 2
B + CN1 19 ↔B + Encoder 4
Z + CN1 21 ↔Z + Encoder 6
Agnd-TQ CN1 22
↔CMD – Drive 6
Vin-TQ CN1 23
↔CMD + Drive 3
Agnd-VEL CN1 24
↔CMD – Drive 6
Vin-VEL CN1 25
↔CMD + Drive 3
Com – CN1 26 ↔AGND Drive 15
Ready + CN1 31 ↔DFT Drive 5
A – CN1 41 ↔A – Encoder 3
B – CN1 43 ↔B – Encoder 5
Z – CN1 45 ↔Z – Encoder 7
COM Drive 14
GND Encoder 9
NOTE: 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. Refer to
the Linearserv user guide for additional information.
When the Linearserv is in Torque
Mode, connect Agnd-TQ to CMD –,
and connect Vin-TQ to CMD +.
When the Linearserv is in Velocity
Mode, connect Agnd-VEL to CMD –,
and connect Vin-VEL to CMD +.
Jumper COM to ground (GND).
Jumper pins 13 & 14.
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