Parker Compumotor 6000 Series User manual

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Compumotor
Compumotor Division
Parker Hannifin Corporation
p/n 88-016412-01A August 1997
AT6250 & AT6450
Servo Controller
Installation Guide
P
R
O
G
R
A
M
M
A
B
L
E
I
N
P
U
T
S
4-AXIS CONTROLLER
AT6450
AC INPUT
CONNECTOR TO MAIN BOARD
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
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMDÐ
CMD+
DRIVE 4 LIM 3/4
3CW
3CCW
3HOM
GND
4CW
4CCW
4HOM
GND
SHLD
ENCODER 4
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMDÐ
CMD+
DRIVE 3 TRIGS
TRG-A
GND
TRG-B
GND
TRG-C
GND
TRG-D
GND
SHLD
OUT-A
GND
OUT-B
GND
OUT-C
GND
OUT-D
GND
SHLD
OUTS
ENCODER 3
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMDÐ
CMD+
DRIVE 2 AUX
+5V
GND
+5V
OUT-P
IN-P
GND
ANA
ENBL
GND
ENCODER 2
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMDÐ
CMD+
DRIVE 1 ENCODER 1
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
LIM 1/2
1CW
1CCW
Z-
Z+
B-
Z+
Z-
GND
SHLD
GRN : READY
RED : RESET
DISABLED 1
DISABLED 2
DISABLED 3
DISABLED 4
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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.
© 1994-7, 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, Servo Tuner, Motion OCX Toolkit, 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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AT6250 & AT6450
Product & Documentation
Enhancements
Topic Description
New Documentation Set The AT6250/AT6450 User Guide (p/n 88-014179-01), which combined hardware and
software documentation together in one document, is replaced by this document,
AT6250/AT6450 Installation Guide (p/n 88-016412-01). This document describes how
to install and troubleshoot the AT6250 and AT6450 hardware. Programming related
issues are covered in the 6000 Series ProgrammerÕs Guide (p/n 88-014540-01) and the
6000 Series Software Reference (p/n 88-012966-01).
Miscellaneous Corrections
and Clarifications
Corrections:
¥ The end-of-travel limit inputs (CW & CCW, home inputs (HOM), drive fault inputs
(DFT), enable input (ENBL), and joystick inputs (pins 15-19 on the JOYSTICK
connector) are HCMOS compatible (switching levels: low £1.00V, high ³3.25V).
Previously, they were documented as TTL compatible (low £0.4V, high ³2.4V).
¥ Recommended connections to the Dynaserv drive have been changed: connect the
DynaservÕs pin #50 (AGND) to the AT6n50Õs AGND terminal (instead of to the CMD-
terminal, as previously documented).
Clarifications:
¥ All inputs and outputs are optically isolated from the internal microprocessor (not
from the other inputs and outputs).
¥ Programmable I/O pullup voltage reference: You must select either the on-board
+5V terminal or an external 5-24VDC power supply to power the IN-P or OUT-P pull-up
resistors. Connecting IN-P or OUT-P to the +5V terminal and to an external supply will
damage the AT6n50.
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Online Manuals This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com
ABOUT THIS BOOK
Chapter 1. Installation
What You Should Have (ship kit) ...........................................................2
Before You Begin ..................................................................................... 2
Recommended Installation Process ............................................. 2
Electrical Noise Guidelines ........................................................... 2
General Specifications ............................................................................3
Configuration/CustomizationÑOptional DIP Switch Settings.............. 4
PC Card Installation ................................................................................ 5
Mounting...................................................................................................6
Electrical Connections ............................................................................ 7
AUX Board Cable ........................................................................... 7
Enable Input (ENBL) Ñ Emergency Stop Switch ........................ 7
ANI Analog Input ............................................................................. 7
Auxiliary Analog Output Ð ANA......................................................8
Motor Drivers ................................................................................. 8
End-of-Travel and Home Limit Inputs......................................... 12
Encoders .......................................................................................13
Joystick & Analog Inputs ............................................................. 14
Trigger Inputs................................................................................ 15
General-Purpose Programmable Inputs & Outputs ................... 16
Input Power ................................................................................... 20
Lengthening I/O Cables ................................................................ 21
Testing the Installation........................................................................... 22
Tuning the AT6n50................................................................................. 24
WhatÕs Next? ......................................................................................... 25
Program Your Motion Control Functions.................................... 25
Chapter 2. Troubleshooting
Troubleshooting Basics......................................................................... 28
Reducing Electrical ...................................................................... 28
Diagnostic LEDs........................................................................... 28
Test Options.................................................................................. 28
Technical Support......................................................................... 28
Common Problems & Solutions...........................................................29
Interrupt & Address Selection ...................................................... 30
Downloading Errors (downloading the operating system) ........ 31
Product Return Procedure .................................................................... 32
Appendix A: Tuning
Servo System Terminology.................................................................. 34
Servo Tuning Terminology .......................................................... 34
Position Variable Terminology .................................................... 34
Servo Response Terminology..................................................... 35
Servo Control Techniques .................................................................... 36
Proportional Feedback Control (SGP)........................................ 36
Integral Feedback Control (SGI) ................................................. 37
Velocity Feedback Control (SGV)............................................... 37
Velocity Feedforward Control (SGVF) ....................................... 38
Acceleration Feedforward Control (SGAF)................................38
Gain Sets................................................................................................38
Tuning Setup Procedure........................................................................ 39
Drive Tuning Procedure........................................................................40
Controller Tuning Procedure ................................................................ 41
Tuning Scenario..................................................................................... 44
Index.................................................................................................. 47
Purpose of This Book
This book describes how to install and troubleshoot the AT6250 and AT6450 hardware.
Programming related issues are covered in the 6000 Series ProgrammerÕs Guide and the 6000
Series Software Reference.
ÒAT6n50Ó
Hereafter, the AT6250 and AT6450 are referred to collectively as the ÒAT6n50.Ó
What You Should Know
To install and troubleshoot the AT6n50, you should have a fundamental understanding of:
¥ IBM PC-compatible computer hardware and software operations
¥ Electronics concepts, such as voltage, switches, current, etc.
¥ Mechanical motion control concepts, such as torque, velocity, distance and force
Related Publications
¥6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division;
part number 88-012966-01
¥6000 Series ProgrammerÕs Guide, Parker Hannifin Corporation, Compumotor Division;
part number 88-014540-01
¥ Current Parker Compumotor Motion Control Catalog
¥ Operations user guide for your IBM-compatible 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
¥ Things to consider before you install the AT6n50
¥ General specifications table
¥ Installing the AT6n50 PC card
¥ Mounting the AT6n50 AUX board
¥ Connecting all electrical components (includes specifications)
¥ Testing the installation
¥ Tuning the AT6n50 (refer to Servo Tuner User Guide or to Appendix A)
¥ Preparing for what to do next
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2AT6250/AT6450 Installation Guide
What You Should Have (ship kit)
Part Name Part Number
If an item is missing,
call the factory (see
phone numbers on
inside front cover).
One of the following line items:
AT6250 120VAC version (with ship kit)..........................................AT6250-120
AT6250 240VAC version (with ship kit)..........................................AT6250-240
AT6250 DC version (with ship kit).................................................. AT6250-DC
AT6450 120VAC version (with ship kit)..........................................AT6450-120
AT6450 240VAC version (with ship kit)..........................................AT6450-240
AT6450 DC version (with ship kit).................................................. AT6450-DC
Ship kit: High density cable, 5-foot (standard): AT6250 .................71-012832-05
AT6450 ................. 71-011468-05
High density cable, 15-foot (optional): AT6250 ................. 71-012832-15
AT6450 ................. 71-011468-15
120VAC power cord (AT6n50-120 only) ............................. 44-000054-01
240VAC EIA power cord connector (AT6n50-240 only) .... 43-011905-01
Mounting clips (AC versions only) ...................................... 53-012068-02
Mounting screws (AC versions only) ................................. 51-006037-01
(This installation guide)......................................................... 88-016412-01
6000 Series Software Reference.......................................... 88-012966-01
6000 Series ProgrammerÕs Guide ....................................... 88-014540-01
Motion Architect diskettes: Disk 1 ...................................95-013070-01
Disk 2 ................................... 95-013070-02
Driver & Samples Disk ....... 95-016324-01
Operating system/DOS Support diskette: AT6250 .......... 95-014176-01
AT6450 ........... 95-014175-01
Analog Input Option
(p/n OPT-AT6N50)-A)
OPT-AT6N50-A is an
optional analog input
card that installs into
your computerÕs ISA
slot, next to the AT6n50
PC card. It provides up
to four ±10V 14-bit
analog inputs (two
inputs for the AT6250
and four inputs for the
AT6450).
Before You Begin
WARNINGS
The AT6n50 is used to control your systemÕs 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 AT6n50 PC card
¥ Adjusting the DIP switches on the AT6n50 PC card after it is installed in the computer
¥ Connecting electrical devices to the AT6n50 PC card after it is installed in the computer
Recommended Installation Process
This chapter is
organized
sequentially to best
approximate a typical
installation process.
1. Review the general specifications.
2. Perform configuration/adjustments (if necessary).
3. Install the AT6n50 PC card (and the ANI option card, if you ordered one) in your computer.
4. Mount the AT6n50 AUX board.
5. Connect all electrical system components.
6. Test the installation.
7. Mount the motor and couple the load.
8. Tune the AT6n50 for optimum performance (if you are using Servo Tuner, refer to the
instructions in the Servo Tuner User Guide; otherwise, refer to Appendix A).
9. Program your motion control functions. Programming instructions are provided in the
6000 Series ProgrammerÕs Guide and the 6000 Series Software Reference. We recommend
using the programming tools provided in Motion Architect (found in your ship kit). You
can also benefit from our iconic programming interface, Motion Builder (sold separately).
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.
¥ Noise suppression guidelines for I/O cables are provided on page 21.
¥ General noise-reduction guidelines are also provided in the Parker Compumotor catalog.
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Chapter 1. Installation 3
General Specifications
Parameter Specification
Power
AT6n50 PC Card...................................................... 5VDC @ 3.5A from the PC-AT bus
AT6n50-120V AUX Board (AC or DC input) ......... 90-132VAC, 50/60Hz, 1.5A @120VAC, single-phase; or connect an external power source
(5VDC ±10% @ 1.6A) to a +5V terminal on the AUX connector
AT6n50-240V AUX Board (AC or DC input) ......... 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or connect an external power
source (5VDC ±10% @ 1.6A) to a +5V terminal on the AUX connector
AT6n50-DC AUX Board ......................................... +5VDC ±5% @ 1.6A ; ±15VDC @ 50mA
Status LEDs/fault detection ..................................... Refer to Diagnostic LEDs on page 28
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 & Accuracy .................................... Position range: ±2,147,483,648 counts;
Accuracy: ±0 counts from preset total
Velocity Range, Accuracy, & Repeatability ........... Range: 1-2,000,000 counts/sec;
Accuracy: ±0.02% of maximum rate;
Repeatability: ±0.02% of set rate
Acceleration Range ................................................. 1-24,999,975 counts/sec2
Motion Trajectory Update Rate .............................. See SSFR command description in the 6000 Series Software Reference
Servo Sampling Update Rate ................................. See SSFR command description in the 6000 Series Software Reference
Inputs All inputs are optically isolated from the microprocessor (not from the other inputs).
Home (HOM), EOT Limits (CW/CCW), ............... HCMOS compatible*; internal 6.8 KWpull-ups to +5V; voltage range is 0-24V.
Enable (ENBL), Drive Fault (DFT),
Joystick inputs (pins 15-19: Axes Select,
Velocity Select, Trigger, Release, & Auxiliary)
Triggers (TRG-A through TRG-D) ....................... TTL compatible*; internal 6.8 KWpull-ups to +5V; voltage range is 0-24V.
Encoder .................................................................... Differential comparator accepts two-phase quadrature incremental encoders with
differential (recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low £0.4V, High ³2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
Analog (joystick connector) .................................... Voltage range = 0-2.5VDC, 8-bit A/D converter. Input voltage must not exceed 5V.
24 General-Purpose Programmable ..................... HCMOS compatible* with internal 6.8 KWpull-ups to IN-P terminal. To source current,
connect IN-P to the +5V terminal or to an external 5-24VDC supply (but not to both); to
sink current, connect IN-P to the GND terminal. IN-P can handle 0-24V with max. current
of 100mA. Voltage range = 0-24V. 50-pin plug is compatible with OPTO-22ª equipment.
Outputs All outputs are optically isolated from the microprocessor (not from the other outputs).
General-Purpose Programmable .......................... Open collector output with 4.7 KWpull-ups. Can be pulled up by connecting OUT-P to the
and OUT-A through OUT-D.................................... +5V terminal or to an external supply of up to 24V (but not to both). OUT-P can handle
0-24V with max. current of 50mA. Outputs will sink up to 30mA or source up to 5mA at
5-24VDC. 50-pin plug is compatible with OPTO-22ª signal conditioning equipment.
+5V Output ............................................................... Internally supplied +5VDC. +5V terminals are available on multiple connectors. Load limit
(total load for all I/O connections) is 1.4A for the AT6n50-120 and 0.4A for the AT6n50-240.
Load limit for the DC versions of the AUX boards depends on your external +5V supply.
Command Out (CMD) ........................................... ±10V analog output. 12-bit DAC. Load should be > 2KWimpedance.
Auxiliary Analog Output (ANA) .............................. ±10V analog output. 8-bit DAC. Load should be > 2KWimpedance. Accuracy is ±5%.
Shutdown (SHTNO, SHTNC, and COM) ............. Shutdown relay output. Max. rating: 175VDC, 0.25A, 3W.
* HCMOS-compatible switching voltage levels: Low £1.00V, High ³3.25V.
TTL-compatible switching voltage levels: Low £0.4V, High ³2.4V.
Specifications for the optional ANI analog input PC card (part number OPT-AT6N50-A):
Power ....................................................................... 5VDC @ 0.8A from the PC-AT bus
Analog inputs............................................................ AT6250 has 2 analog inputs, AT6450 has 4.
Voltage range = -10VDC to +10VDC, 14-bit A/D converter.
Status LED ............................................................... Green power LED above the screw-terminal connector indicates power to the card.
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4AT6250/AT6450 Installation Guide
Configuration/CustomizationÑOptional DIP Switch Settings
DIP Switch S1
Factory Default Setting Shown
AT6n50 PC Card
DIP Switch S2
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
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
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 ArchitectÕs Terminal or
Panel Modules.
= ON position N
O
87643521
N
O
87643521
INTERRUPTS (S2) ADDRESS (S1, Switches 1-7)
TRANSFER MODE (S1, Switch 8)
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Chapter 1. Installation 5
PC Card Installation
CAUTION
While handling the AT6n50 card, be sure to observe proper grounding techniques to
prevent electro-static discharge (ESD).
1 . Turn off the power to the computer.
2 . Remove the computerÕs cover to access the internal slots
where peripheral cards are added.
3 . Select an expansion slot in your PC and remove the sheet
metal bracket that covers the associated external access
slot. Save the screw. On IBM-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 AT6n50 card.
4 . Select a 16-bit slot to install the AT6n50 card.
5 . Insert the bottom corner of the AT6n50 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 cardÕs edge connector reaches the computerÕs
mating connector (see drawing below). Adjust the card
until the edge connectors align and press it down into the
mating connector.
6 . Using the screw that secured the original access slot
cover bracket, fasten the AT6n50 mounting bracket to
the computer chassis (see drawing below).
Computer
Chassis
AT6n50
PC Card
PCA Card
Guide
Edge
Connector
Mounting
Screw
Mounting
Bracket
ANI Card Installation
If you ordered the ANI analog input card
(p/n OPT-AT6N50-A) with your AT6n50
system, install it now.
AT6n50 Card
Computer
Chassis
ANI Card
Ribbon Cable :
Use the ribbon cable to connect the
ANI card to the AT6n50 card. On the
AT6n50 card, be sure to use the J2
connector, NOT the J3 connector.
Power LED
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6AT6250/AT6450 Installation Guide
Mounting
PRECAUTIONS
¥ To mount the AUX board, you must first attach the mounting brackets. The mounting brackets and 6-
32 (0.25-inch) mounting screws are provided in the ship kit.
¥ Do not use screws longer than 0.25 inches (6.35 mm); they protrude too far into the sheet metal and
may damage the AUX board.
¥ Mount the AUX board within the reach of the supplied 5-foot indexer-to-AUX cable. You may not
lengthen or shorten this cable. A 15-foot cable is available (part number 71-012832-15).
¥ Environmental Considerations:
-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 AT6n50. Do not allow
liquids or fluids to come in contact with the AT6n50
or its cables.
-Temperature. Operate the AT6n50 AUX board in
ambient temperatures between 32°F (0°C) and
122°F (50°C). Provide a minimum of 6 inches
(152.4 mm) of unrestricted air-flow space around
the AUX board (see illustration). Fan cooling may
be necessary if adequate air flow is not provided.
6.0
(152.4)
6.0
(152.4)
Minimum Airflow Space = 6 in (152.4 mm)
6.0
(152.4)
6.0
(152.4)
6.10 (154.94)
1.25
(31.75)
2.43 (61.72)
2.00 (50.80)0.25 (6.35)
1.25
(31.75)
0.375 (9.53)
10.10
(256.54)
11.20
(284.48)
Optional Mounting
Tab Location
Provision for #10
Mounting Screws
(
4 Plcs.
)
0.20
(5.08)
0.75
(19.05)
Mounting brackets
and 6-32 (0.25-inch)
mounting screws are
provided in the ship
kit (part number
53-012068-01).
AC Input AUX Boards DC Input AUX Boards
Provision for #10
Mounting Screws
6.10 (154.94)
5.00 (127.00)
0.55
(13.97)
0.20
(5.08)
11.60
(294.64)
10.70
(271.78)
11.20
(284.48)
0.35 (8.89)
0.20
(5.08)
1.75
(44.45)
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Chapter 1. Installation 7
Electrical Connections
AUX Board Cable
AUX
Board
PC-AT
High Density Cable
provided in ship kit
Green: High density cable connected
OFF: Cable not connected properly
LED
Enable Input (ENBL) Ñ Emergency Stop Switch
+5V
GND
+5V
OUT-P
IN-P
GND
ANA
ENBL
GND
AUX Connector
ENBL connected to GND (normally-closed switch).
If this connection is opened, motion is killed and the
program in progress is terminated.
If the ENBL input is not grounded when motion is
commanded, motion will not occur and the error message
ÒWARNING: ENABLE INPUT ACTIVEÓ will be displayed in
the terminal emulator.
Internal Schematic
ISO GND
6.8 KW
74HCXX
1
+5VDC
47.5 KW
HCMOS compatible (switching levels: Low £1.00V; High ³3.5V).
Voltage range = 0-24VDC.
ANI Analog Input (ANI card only Ð OPT-AT6N50-A)
Removable
Screw Terminal
Connector
Computer
Chassis
See page 5 for instructions on
installing the ANI card in your
computer.
ANI Connections
Power LED
Analog Input #1
Analog Input #2
Analog Ground
Analog Input #3
Analog Input #4
Analog Ground
SHLD
NOTES: ¥Inputs #3 and #4 are available only with the AT6450-ANI.
¥ Specs: voltage range is -10V to +10V; 14-bit A/D converter.
Analog Input Source
±10V Output
Ground
AT6n50 Card
Earth
Analog
Input 1
Input 2
AGND
Input 3
Input 4
AGND
SHLD
ANI Connector
¥Each input is a ±10V analog input with a 14-bit
analog-to-digital converter.
¥ The ANI input is sampled at the servo sampling
rate (see table for SSFR command).
¥ Voltage value reported with the TANI and
ANI commands; Position value (819 counts/volt)
reported with the TPANI and PANI commands.
150 KW
+15V
-15V
LF412
Internal Schematics
Ground
Analog
Ground
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8AT6250/AT6450 Installation Guide
Auxiliary Analog Output Ð ANA (for Òhalf axisÓ control)
+5V
GND
+5V
OUT-P
IN-P
GND
ANA
ENBL
GND
Ð
+
ISO
Ground
Internal Schematics
1
+15V
-15V
LF412
AGND
5.62 KW1.87 KW
Analog Device
that accepts
±10V input
¥ANA is a ±10V analog output with an 8-bit DAC.
Load impedance should be > 2KWimpedance.
¥ ANA voltage is set with the OUTANA command
(see 6000 Software Reference for details).
¥ ANA is NOT affected by the ENBL switch.
AUX Connector
Motor Drivers
WARNING
REMOVE AC POWER FIRST before connecting or disconnecting the drives.
CONNECTIONS & INTERNAL SCHEMATICS
Drive
Motor
Internal Schematics
Analog Ground
(AGND)
DRIVE Connector
SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMDÐ
CMD+
AGND
AGND
+
-
Command +
Chassis Ground
Closed if DRIVE¯
Open if DRIVE1
Solid State Relay
Open if DRIVE¯
Closed if DRIVE1
AT6n50
1
6.8 KW74HCXX
+5VDC
47.5 KW
Maximum recommended cable
length is 15 feet (4.56 m).
Use 22 AWG wire.
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Chapter 1. Installation 9
PIN OUTS & SPECIFICATIONS (9-pin DRIVE Connector)
Name In/Out Description and Specifications
SHLD Ñ ShieldÑInternally connected to chassis (earth) ground.
COM Ñ Signal common for shutdown. Not connected to any ground or other COM.
SHTNC OUT 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 AT6n50. When the AT6n50 is powered up, the shutdown relay remains active until you
issue the DRIVE1111 command. Max. rating: 175VDC, 0.25A, 3W.
Shutdown active (DRIVE¯¯¯¯): this output is internally connected to COM (see schematic above).
Shutdown inactive (DRIVE1111): this output is disconnected from COM (see schematic above).
SHTNO OUT 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 AT6n50. When the AT6n50 is powered up, the shutdown relay remains active until you
issue the DRIVE1111 command. Max. rating: 175VDC, 0.25A, 3W.
Shutdown active (DRIVE¯¯¯¯): this output is disconnected from COM (see schematic above).
Shutdown inactive (DRIVE1111): this output is internally connected to COM (see schematic above).
DFT IN Drive fault input. Set active level with the DRFLVL command. The drive fault input will not be recognized until you enable the
input functions with the INFEN1 command. This input is HCMOS compatible (switching levels: Low £1.00V, High ³3.25V).
Internal 6.8 KWpull-ups to +5VDC. Voltage range for the DFT input is 0-24V.
AGND Ñ Analog ground.
RSVD Ñ reserved
CMDÐ Ñ Command signal return.
CMD+ OUT Command output signal. ±10V analog output. 12-bit DAC. Load should be > 2KWimpedance.
CONNECTIONS TO SPECIFIC DRIVES
APEX Series Drive
AT6n50
SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD-
CMD+
ENCODER 1
DRIVE 1
APEX Series
Drive
Reset
Gnd
Vel Int Enable
Enable In
Fault Out
Gnd
Command+
Command–
Tach Output
Gnd
+15V
Gnd
-15V
CHA+
CHA–
CHB+
CHB–
CHZ+
CHZ–
Gnd
SHLD
GND
Z–
Z+
B–
B+
A–
A+
+5V
APEX Series Drive
Enable In
Fault Out
Gnd
Command+
CommandÐ
CHA+
CHAÐ
CHB+
CHBÐ
CHZ+
CHZÐ
Gnd
«
«
«
«
«
«
«
«
«
«
«
«
AT6n50
SHTNO
DFT
AGND
CMD+
CMDÐ
AÐ
A+
B+
BÐ
Z+
ZÐ
GND
NOTE:
Apex Series CHA+ connected to AT6n50Õs AÐ
Apex Series CHAÐ connected to AT6n50Õs A+
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10 AT6250/AT6450 Installation Guide
BD-E Drive
NOTE: These connections will work only if
BD-E jumper LK2 is set to position B
(not the factory default position).
BD-E Drive
V2 (pin 1)
V1 (pin 2)
GND (pin 4)
RST (pin 5)
+15V (pin 6)
FT (pin 9)
AOP (pin 10)
AOP (pin 11)
BOP (pin 12)
BOP (pin 13)
ZOP (pin 14)
ZOP (pin 15)
«
«
«
«
«
«
«
«
«
«
«
«
AT6n50
CMDÐ
CMD+
GND
COM
SHTNO
DFT
AÐ
A+
B+
BÐ
Z+
ZÐ
1
815
AT6n50
SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD–
CMD+
DRIVE 1
BD-E Drive
User I/O Connector
ENCODER 1
SHLD
GND
Z–
Z+
B–
B+
A–
A+
+5V
9
Dynaserv Drive
SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD-
CMD+
DRIVE 1 ENCODER 1
SHLD
GND
Z–
Z+
B–
B+
A–
A+
+5V
Dynaserv Drive
DN1
(50-pin Connector)
1
18
19
33
50
AT6n50
Dynaserv Drive
A+ (pin 13)
AÐ (pin 14)
SRVON (pin 23)
Vcc (pin 24)
B+ (pin 29)
BÐ (pin 30)
Z+ (pin 43)
ZÐ (pin 44)
VIN (pin 49)
AGND (pin 50)
«
«
«
«
«
«
«
«
«
«
AT6n50
AÐ
A+
SHTNO
+5V
B+
BÐ
Z+
ZÐ
CMD+
AGND
NOTE:
Dynaserv A+ connected to AT6n50Õs AÐ
Dynaserv AÐ connected to AT6n50Õs A+
AT6n50 GND connected to AT6n50 COM
Linearserv Drive
50 25
26 1
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1 ENCODER 1
SHLD
GND
Z–
Z+
B–
B+
A+
+5V
Linearserv Drive
CN1
(50-pin Connector)
AT6n50
Linearserv Drive
Com+ (pin 01)
Servo OnÐ (pin 05)
A+ (pin 17)
B+ (pin 19)
Z+ (pin 21)
Agnd-TQ (pin 22)
Vin-TQ (pin 23)
Agnd-VEL (pin 24)
Vin-VEL (pin 25)
ComÐ (pin 26)
Ready+ (pin 31)
AÐ (pin 41)
BÐ (pin 43)
ZÐ (pin 45)
«
«
«
«
«
«
«
«
«
«
«
«
«
«
AT6n50
+5V
SHTNO
AÐ **
B+
Z+
CMD- *
CMD+ *
CMD- *
CMD+ *
AGND
DFT
A+ **
BÐ
ZÐ
*
*
A–
*
**
**
When the Linearserv is in Torque Mode,
connect Linearserv pins 23 & 22 to CMD+
& CMD-. When in the Velocity Mode,
connect pins 25 & 24 are CMD+ & CMD-.
Connect Linearserv A+ to AT6n50 AÐ.
Connect Linearserv AÐ to AT6n50 A+.
Connect AT6n50 GND to AT6n50 COM.
NOTE:
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Chapter 1. Installation 11
OEM670 Drive
AT6n50
OEM670
Drive
SHLD
COM
SHTNC
SHTNO
DFT
AGND
RSVD
CMD–
CMD+
DRIVE 1
1
13 25
14
OEM670 Drive
CMD+ (pin 1)
CMDÐ (pin 2)
FAULT (pin 9)
ENABLE (pin 10)
GND (pin 11)
GND (pin 16)
«
«
«
«
«
«
AT6n50
CMD+
CMDÐ
DFT
SHTNO
COM
AGND
SV Drive
SV Drive
SOLL1+ (X8 pin 01)
SOLL1Ð (X8 pin 02)
N (X13 pin 02)
B (X13 pin 03)
A (X13 pin 04)
GND (X13 pin 05)
N/ (X13 pin 09)
B/ (X13 pin 10)
A/ (X13 pin 11)
+5V (X13 pin 13)
ENABLE GND (X10 pin 08)
+24V OUT GND (X10 pin 10)
ENABLE (X10 pin 01)
+24V OUT (X10 pin 09)
+24V IN (X10 pin 14)
Fault Output (X10 pin 15)
GND for +24V (X10 pin 16)
«
«
«
«
«
«
«
«
«
«
«
«
«
«
«
AT6n50
CMD+
CMDÐ
Z+
B+
AÐ *
GND
ZÐ
BÐ
A+ *
+5V
COM
SHTNO
+24V **
(Ext. Supply)
DFT ***
GND **
(& Ext. Supply)
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1 ENCODER 1
SHLD
GND
Z–
Z+
B–
B+
A–
A+
+5V
SV Drive
AT6n50
X13
X8
1
500
½
1
16 815
9
X10
1
16
+Ð
External 24V
Power Supply
Short these
two terminals
*
**
***
Connect SV A+ (called ÒAÓ) to AT6n50 AÐ.
Connect SV AÐ (called ÒA/Ó) to AT6n50 A+.
Connect SVÕs X10 pins 14 & 16 to an
external 24V power supply. Also connect
SV X10 pin 16 to AT6n50 GND.
Connect a 500½resistor between the
AT6n50Õs GND and DFT terminals.
NOTE:
TQ Series Drive
AT6n50
SHLD
COM
SHTNC
SHTNO
DFT
AGND
ANI
CMD-
CMD+
DRIVE 1
TQ Series
Drive
ENABLE IN
ENABLE GND
FAULT OUT+
FAULT OUT–
RESET IN
RESET GND
COMMAND+
COMMAND–
COMMAND SHLD
GND
TQ Series Drive
ENABLE IN (pin 1)
ENABLE GND (pin 2)
FAULT OUT+ (pin 3)
FAULT OUTÐ (pin 4)
COMMAND+ (pin 7)
COMMANDÐ (pin 8)
COMMAND SHLD (pin 9)
GND (pin 10)
«
«
«
«
«
«
«
«
AT6n50
SHTNO
COM
DFT
AGND
CMD+
CMDÐ
(cable shield)
AGND
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12 AT6250/AT6450 Installation Guide
End-of-Travel and Home Limit Inputs
NOTES
¥ 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
connecte
d
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 KW
74HCXX
1
+5VDC
47.5 KW
HCMOS compatible (switching levels: Low £1.00V; High ³3.5V).
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.
ShieldÑInternally connected to chassis ground (earth).
Specification for all limit inputs
HCMOS compatible (voltage levels: Low
£1.00V, High ³3.25V); internal 6.8 KW
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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Chapter 1. Installation 13
Encoders
CONNECTIONS & INTERNAL SCHEMATICS
SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V
Internal Schematic
Chassis Ground
Isolated Ground
ENCODER Connector
+5VDC
Incremental
Encoder
Max. Cable Length is 100 feet.
Use 22 AWG wire. Shield Shield
Ground Black
Z Channel Ð Orange/White
Z Channel + Orange
B Channel Ð Green/White
B Channel + Green
A Channel Ð Brown/White
A Channel + Brown
+5VDC Red
Wire colors for Com
p
umotor E Series encoders
+1.8VDC
22 KW
22 KW
+5VDC
Same Circuit
as A Channel
SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V
Shield Shield
Ground Black
Z Channel Ð Brown
Z Channel + Orange
B Channel Ð Blue
B Channel + Green
A Channel + White
A Channel Ð Yellow
+5VDC Red
Wire colors
Encoder Cable
SM Motor
ENCODER Connector
NOTE: Be sure to connect
the AÐ encoder lead (yellow)
to the A+ terminal, and
connect the A+ encoder lead
(white) to the AÐ terminal.
PIN OUTS & SPECIFICATIONS (9-pin ENCODER Connectors)
Pin # In/Out Name Description
1
2
3
4
5
6
7
8
9
-----
-----
IN
IN
IN
IN
IN
IN
OUT
SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V
ShieldÑInternally connected to chassis ground (earth).
Isolated logic ground.
ZÐ Channel quadrature signal input.
Z+ Channel quadrature signal input.
BÐ Channel quadrature signal input.
B+ Channel quadrature signal input.
AÐ Channel quadrature signal input.
A+ Channel quadrature signal input.
+5VDC output to power the encoder.
Specification for all encoder inputs
Differential comparator accepts two-phase quadrature
incremental encoders with differential (recommended) or
single-ended outputs. Max. frequency is1.6 MHz.
Minimum time between transitions is 625 ns.
TTL-compatible voltage levels: Low £0.4V, High ³2.4V.
Maximum input voltage is 5VDC.
Requirements for Non-Compumotor Encoders
¥ Use incremental encoders with two-phase quadrature output. An index or Z channel output is optional.
Differential outputs are recommended.
¥ It must be a 5V (< 200mA) encoder to use the AT6n50Õs +5V output. Otherwise, it must be separately
powered with TTL-compatible (low £0.4V, high ³2.4V) or open-collector outputs.
¥ If you are using a single-ended encoder, leave the AÐ, BÐ and ZÐ terminals on the AT6n50 unconnected.
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