Parker Compumotor 6000 Series User manual

Compumotor
Compumotor Division
Parker Hannifin Corporation
p/n 88-016310-01B November 1997
OEM6200 Indexer
Installation Guide
OEM
6200

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.
© 1992-7, 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, 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

Change Summary
OEM6200 Installation Guide
Rev B
November 1997
The following is a summary of the primary technical changes to this document.
This book, p/n 88-016310-01B, supersedes 88-016310-01A.
Topic Description
Error Corrections ¥ The maximum baud rate supported is 9600, not 19200 as stated on pages 3, 6 & 27.
¥ Programmable Output spec corrections:
- Max. current in the ON state (sinking current) is 30mA, not 300mA Ñ see pages 3 & 14.
- Pull-up resistor for the output circuit is 10kW, not 4.7kWas noted on page 16 and the
back cover.
Miscellaneous
Clarifications
VDC Input Power Tolerance: The tolerances for input power are ±10% for 24VDC power
and ±5% for 5VDC power. See page 18 for connections.
New Documentation Set: The OEM6200 User Guide (p/n 88-013413-01), which contained
hardware and software documentation, is replaced by this document (OEM6200 Installation
Guide, p/n 88-016310-01) and the 6000 Series ProgrammerÕs Guide (p/n 88-014540-01).
NOTE: To receive the 6000 Series ProgrammerÕs Guide (as well as the 6000 Series Software
Reference), you must order the ÒOEM6200 MANUALSÓ ship kit add-on.
Zero-Ohm Resistors: The OEM6200 is shipped from the factory with the pull-up resistors
for the programmable inputs and programmable outputs (on the PROGRAMMABLE INPUTS/OUTPUTS
connector) connected to the internal +5V supply through zero-ohm resistors on the printed
circuit board. To pull up these I/O to a voltage source other than +5V, you must remove the
respective resistor (R21 for inputs and R22 for outputs) and then connect an external
5-24VDC supply to the respective pull-up terminal (IN-P for inputs and OUT-P for outputs).
CAUTION: If you fail to remove the resistor (R21 or R22) before connecting the
external supply to the inputs pull-up terminal (IN-P) or the outputs pull-up terminal
(OUT-P), you will damage the OEM6200.
EMC Installation Guidelines: The OEM6200 is sold as a complex component to
professional assemblers. As a component, it is not required to be compliant with
Electromagnetic Compatibility Directive 89/336/EEC. However, Appendix A provides guidelines
on how to install the OEM6200 in a manner most likely to minimize the OEM6200Õs emissions
and to maximize the OEM6200Õs immunity to externally generated electromagnetic interference.

Online Manuals This manual (in Acrobat PDF format) is available from our web site: http://www.compumotor.com
ABOUT THIS GUIDE
Chapter 1. Installation.......................................................... 1
What You Should Have (ship kit) ...........................................................2
Before You Begin ..................................................................................... 2
Recommended Installation Process ............................................. 2
Electrical Noise Guidelines ........................................................... 2
General Specifications ............................................................................3
Mounting the OEM6200...........................................................................4
Electrical Connections ............................................................................ 5
Grounding System.......................................................................... 5
Serial Communication ................................................................... 6
Pulse Cut-off (P-CUT) Input Ñ Emergency Stop Switch ........... 7
Motor Drivers ................................................................................. 8
End-of-Travel and Home Limit Inputs......................................... 10
Encoder ......................................................................................... 11
Joystick & Analog Inputs ............................................................. 12
Trigger Inputs................................................................................ 13
General-Purpose Programmable Inputs & Outputs ................... 14
RP240 Remote Operator Panel...................................................18
Input Power ................................................................................... 18
Lengthening I/O Cables ................................................................ 19
Testing the Installation........................................................................... 20
WhatÕs Next? ......................................................................................... 22
Program Your Motion Control Functions.................................... 22
Chapter 2. Troubleshooting.............................................23
Troubleshooting Basics......................................................................... 24
Reducing Electrical Noise ........................................................... 24
Diagnostic (ÒSTATUSÓ) LED ...................................................... 24
Test Options.................................................................................. 24
Technical Support......................................................................... 24
Common Problems & Solutions...........................................................25
Troubleshooting Serial Communication Problems............................. 26
Product Return Procedure .................................................................... 27
Appendix A (EMC Installation Guidelines)......................... 29
Index.................................................................................................. 33
Purpose of This Guide
This document is designed to help you install and troubleshoot your OEM6200 hardware
system. Programming related issues are covered in the 6000 Series ProgrammerÕs Guide and
the 6000 Series Software Reference. (These reference documents are available by ordering the
ÒOEM6200 MANUALSÓ ship kit add-on, or they can be downloaded from CompumotorÕs web
site at http://www.compumotor.com).
What You Should Know
To install and troubleshoot the OEM6200, you should have a fundamental understanding of:
¥ Electronics concepts, such as voltage, current, switches.
¥ Mechanical motion control concepts, such as inertia, torque, velocity, distance, force.
¥ Serial communication and terminal emulator experience: RS-232C
Related Publications
¥6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division;
part number 88-012966-01
¥6000 Series ProgrammerÕs Guide, Parker Hannifin Corporation, Compumotor Division;
part number 88-014540-01
¥ Current Parker Compumotor Motion Control Catalog
¥ Schram, Peter (editor). The National Electric Code Handbook (Third Edition). Quincy,
MA: National Fire Protection Association
EMC Installation Guidelines
The OEM6200 is sold as a complex component to professional assemblers. As a component,
it is not required to be compliant with Electromagnetic Compatibility Directive 89/336/EEC
of the European Community. However, Appendix A provides guidelines on how to install the
OEM6200 in a manner most likely to minimize the OEM6200Õs emissions and to maximize
the OEM6200Õs immunity to externally generated electromagnetic interference.

1
CHAPTER ONE
Installation
IN THIS CHAPTER
¥ Product ship kit list
¥ Things to consider before you install the OEM6200
¥ General specifications table
¥ Mounting the OEM6200
¥ Connecting all electrical components (includes specifications)
¥ Testing the installation
¥ Preparing for what to do next
Appendix A provides guidelines on how to install the OEM6200 in a manner most likely
to minimize the OEM6200Õs emissions and to maximize the OEM6200Õs immunity to
externally generated electromagnetic interference.

2OEM6200 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:
OEM6200 standard product (with ship kit) .............................. OEM6200
Ship kit: This manual (OEM6200 Installation Guide) ................. 88-016310-01
Motion Architect response card..................................... 88-013715-01
If you order ÒOEM6200 MANUALSÓ, the ship kit would also include:
6000 Series Software Reference................................... 88-012966-01
6000 Series ProgrammerÕs Guide ................................ 88-014540-01
Before You Begin
WARNINGS
The OEM6200 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 OEM6200 before:
¥ Connecting any electrical device (e.g., drive, encoder, inputs, outputs, etc.)
¥ Adjusting the DIP switches or other internal components
Recommended Installation Process
This chapter is
organized
sequentially to best
approximate a typical
installation process.
1. Review the general specifications.
2. Mount the OEM6200.
3. Connect all electrical system components.
4. Test the installation.
5. Mount the motor and couple the load.
6. Program your motion control functions. Programming instructions are provided in the
6000 Series Programmer's Guide and the 6000 Series Software Reference. We recommend
using the programming tools provided in Motion Architect for Windows (found in your
ship kit). You can also benefit from an optional iconic programming interface called
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 19.
¥ Appendix A (page 29) provides guidelines on how to install the OEM6200 in a manner
most likely to minimize the OEM6200Õs emissions and to maximize the OEM6200Õs
immunity to externally generated electromagnetic interference.

Chapter 1. Installation 3
General Specifications
Parameter Specification
Power
DC input.................................................................... 5VDC ±5%, 2A minimum*; or 24VDC ±10%, 1A minimum*
* Current requirements depend on the type and amount of I/O used (see page 18).
Status LED................................................................ GREEN if 5VDC or 24VDC input power supply is connected.
RED if power reset is required.
OFF if no power.
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
Position Range & Accuracy..................................... Position range: ±2,147,483,648 steps;
Accuracy: ±0 steps from preset total
Velocity Range, Accuracy, & Repeatability............ Range: 1-2,000,000 steps/sec;
Accuracy: ±0.02% of maximum rate;
Repeatability: ±0.02% of set rate
Acceleration Range.................................................. 1-24,999,975 steps/sec2
Motion Algorithm Update Rate................................ 2 ms
Serial Communication
Connection Options.................................................. RS-232C, 3-wire (Rx, Tx & GND on the AUX connector).
Maximum units in daisy-chain................................ 99 (use DIP switch or ADDR command to set individual addresses for each unit)
Communication Parameters................................... 9600 baud (range is 9600-1200Ñsee AutoBaud, page 6), 8 data bits, 1 stop bit, no parity;
RS-232: Full duplex;
Inputs
Home; Pos/Neg Limits; Triggers; Pulse Cut; ....... TTL compatible* with internal 6.8 KWpull-up resistor to +5V; Voltage range = 0-24V.
Joystick inputs: Axes Select, Velocity Select,........ NOTE: To connect a switch for the P-CUT input, you must first remove resistor R32.
Trigger, Release, and Auxiliary.
Drive Fault and In Position ...................................... TTL compatible* with internal 1.0 KWpull-up resistor to +5V; Voltage range = 0-5V.
Encoder..................................................................... Differential comparator accepts two-phase quadrature incremental encoders with differential
(recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels are TTL-compatible*.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
16 General-Purpose Programmable ..................... TTL compatible*. Shipped from factory with these inputs internally pulled up to +5V through
(PROGRAMMABLE INPUTS/OUTPUTS connector)......... a 6.8 KWpull-up resistor (with a zero ohm resistor Ð R21). If you remove resistor R21, you
can make these inputs source current by connecting IN-P to the +5V terminal or to an external
5-24V power source (IN-P can handle 0-24V with max. current of 100 mA), or you can make
these inputs sink current by connecting IN-P to GND. Voltage range = 0-24V.
Analog input channels (JOYSTICK connector) ....... Voltage range = 0-2.5VDC; 8-bit A/D converter. Input voltage must not exceed 5V.
Outputs
8 Programmable ...................................................... Open-collector output. Shipped from factory with these outputs internally
(PROGRAMMABLE INPUTS/OUTPUTS connector)......... pulled up to +5V through a 10 KWpull-up resistor (with a zero ohm resistor Ð R22). If you
remove resistor R22, you can pull up these outputs by connecting OUT-P to the +5V terminal
or to an external 5-24V power source. Max. voltage in the OFF state (not sinking current) =
24V; max. current in the ON state (sinking) = 30mA.
+5V Output................................................................ Internally supplied +5VDC. +5V terminals are available on all I/O connectors. The amount
of current available depends on the current supplied to the INPUT POWER connector (see
page 18).
Step, Direction, Shutdown (DRIVE connector)....... 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 is 0.3 ms to 20 ms (depending on the PULSE commandÑ0.3 ms default).
* TTL-compatible switching voltage levels: Low £0.4V, High ³2.4V.

4OEM6200 Installation Guide
Mounting the OEM6200
NOTE: The drawing below illustrates the dimensions of the OEM6200 printed circuit board. The
board is shipped from the factory attached to sheet metal which allows either flat mounting or side
mounting of the OEM6200. This board will fit in a 6U rack (if you remove the PCB from the sheet metal).
Max. Component Height
1.90
(48.26)
OEM6200
2-AXIS
INDEXER
9.19
(233.43)
11.00
(279.40)
0.70
(17.78) 1.00
(25.40)
7.00
(177.80)
10.10
(256.54)
9.00
(228.60)
8.66
(220.00)
Inches (Millimeters)
Provision for #10
Mounting Screws
(6 Plcs.)
1.00
(25.40)
0.50
(12.70)
Environmental
Considerations
Temperature. Operate the OEM6200 in ambient
temperatures between 32°F (0°C) and 122°F (50°C).
Provide a minimum of 2 inches (50.8 mm) of unrestricted
air-flow space around the OEM6200 (see illustration).
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
OEM6200. Do not allow liquids or fluids to come in
contact with the OEM6200 or its cables.
2.0
(50.8)
2.0
(50.8)
2.0
(50.8)
2.0
(50.8)
M
i
n
i
mum A
i
r
f
low
S
pace = 2
i
nches

Chapter 1. Installation 5
Electrical Connections
Appendix A (page 29) provides guidelines on how to install the OEM6200
in a manner most likely to minimize the OEM6200Õs emissions and to
maximize the OEM6200Õs immunity to externally generated
electromagnetic interference.
Grounding System
LIMITS
AUX JOYSTICK
ENCODER 1
DRIVE 1
STATUS GRN : OK RED : RESET OFF : NO PWR
INPUT
POWER
RP240
OEM6200
PROGRAMMABLE INPUTS/OUTPUTS
ENCODER 2
2-AXIS
INDEXER
DRIVE 2
1
9
1
9
1
7
1
7
5
1
9
1
1
8
9
15
1
8
9
15
1
2
49
50
1
4
13 1
25 14
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
SHLD
GND
Z-
Z+
B-
B+
A-
A+
+5V
Rx
Tx
GND
SHLD
+5V
OUT-P
IN-P
GND
TRG-A
TRG-B
GND
GND
SHLD
P-CUT
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
SHLD
Tx
Rx
GND
+5V
SHLD Terminal
GND Pins
(even numbered pins)
GROUND
EARTH
TH1
SHIELD
GND 24V 5V
GND Pin (#13)
GND Pin (#14)
GND Pin (#13)
GND Pin (#14)
GND Terminal
GND Terminal
GND Terminals
GND Terminal
GND Pin (#14)
SHLD Pin (#8)
SHLD Terminal
SHLD Pin (#8)
SHLD Terminal
SHLD Terminal
SHLD Terminals
n.c.
SHLD Pin (#8)
Shield Screw
This connection is critical for providing adequate shielding.

6OEM6200 Installation Guide
Serial Communication
RS-232C Connections
LIMITS
RP240
OEM6200
2-AXIS
INDEXER
5
1
9
1
ENCODER 2
DRIVE 2
9
1
8
9
15
Z-
Z+
B-
B+
A-
A+
+5V
Tx
Rx
GND
AUX
1
7
1
7
Rx
Tx
GND
SHLD
NOTE: Max. cable length is 50 ft (15.25 m)
25-Pin COM Port:9-Pin COM Port:
Serial Port Connection
Pin 2 (Rx)
Pin 3 (Tx)
Pin 5 (GND)
Pin 2 (Tx)
Pin 3 (Rx)
Pin 7 (GND)
Rx
Tx
GND
Rx
Tx
GND
RS-232C Daisy-Chain Connections *
Rx
Tx
GND
SHLD
Rx
Tx
GND
SHLD
Unit 0 Unit 1 Unit 2
Tx
Rx
GND
Daisy Chain to a Computer or Terminal
Stand-Alone Daisy Chain
Be sure to set unique devices addresses for each unit.
To set the address, use the DIP switch (see below),
or use the ADDR command (see 6000 Series Software Reference).
*
Rx
Tx
GND
SHLD
Rx
Tx
GND
SHLD
Rx
Tx
GND
SHLD
Unit 0 Unit 1 Unit 2
Rx
Tx
GND
SHLD
Changing the address and baud rate (OPTIONAL)
Factory Settings May
Be Sufficient
¥ Device address is set
to zero (if you are
connecting multiple
units in a daisy-chain,
you can automatically
establish the device
address by using the
ADDR command).
¥ Factory default baud
rate is 9600.
N O
1234
DIP Switch
Factory Default Setting Shown
OEM6200
OFF OFF OFF ¯ (default)
OFF OFF ON 1
OFF ON OFF 2
OFF ON ON 3
ON OFF OFF 4
ON OFF ON 5
ON ON OFF 6
ON ON ON 7
* Device address is checked upon power up or reset.
Switch #3 Switch #2 Switch #1 Device Address
To implement the Auto Baud feature:
Switch #4 ON = Auto Baud Enabled
Switch #4 OFF = Auto Baud Disabled (default)
The default baud rate is 9600. As an alternative, you can use
this procedure to automatically match your terminal's speed
of 1200, 2400, 4800, or 9600 baud.
1. Set switch 4 to ON.
2. Connect the OEM6200 to the terminal.
3. Power up the terminal.
4. Cycle power to the OEM6200 and immediately press the
space bar several times.
5. The OEM6200 should send a message with the baud rate
on the first line of the response. If no baud rate message
is displayed, verify steps 1-3 and repeat step 4.
6. Change switch 4 to OFF.
7. Cycle power to the OEM6200. This stores the baud rate
in non-volatile memory.
NOTE: If Auto Baud is enabled, the OEM6200 performs its
auto baud routine every time it is powered up or reset. The
OEM6200 is only capable of matching 1200, 2400, 4800, and
9600 baud. Once the baud rate has been determined, the
OEM6200 stores that baud rate in non-volatile memory;
therefore, Switch #4 should be set to the OFF position after
the baud rate has been determined.
ADDRESS
AUTO BAUD

Chapter 1. Installation 7
Pulse Cut-off (P-CUT) Input Ñ Emergency Stop Switch
OEM6200
2-AXIS
INDEXER
R32
NOTE : The OEM6200 is shipped with the pulse cut
input (P-CUT) internally connected to ground through
a zero-ohm resistor (R32). To connect an external
switch for operating the emergency stop function, you
must first remove R32 and then wire the switch as
shown in the illustration below.
AUX
RP240
LIMITS
PROGRAMMABLE INPUTS/OUTPUTS
INPUT
POWER
IN-P
GND
TRG-A
TRG-B
GND
GND
SHLD
P-CUT
AUX Connector
TTL compatible (switching levels: low £0.4V, high ³2.4V).
Voltage range = 0-24V.
Internal Schematic
GND
6.8 KW
47 KW74HCTxx
+5VDC
R32
(0 KW)
To control this input
with a switch, first
remove R32 and
then wire the switch
as shown.
7
1
7
P-CUT connected to GND (normally-closed switch).
If this connection is opened, motion is killed and the
program in progress is terminated.
If the P-CUT input is not grounded when motion is
commanded, motion will not occur and the error
message ÒWARNING: PULSE CUT INPUT ACTIVEÓ
will be displayed in the terminal emulator.

8OEM6200 Installation Guide
Motor Drivers
PIN OUTS & SPECIFICATIONS (15-pin DRIVE Connector)
Pin # Name In/Out Description
1 Step (+) OUT Differential output. Step (pulse) output to the drive. Step + signal is active high.
Signal levels: Low £1.0VDC @ -30mA, High ³3.5VDC @ +30mA.
2 Direction (+) OUT Differential output. High signal on Direction + specifies motion in the positive direction; Low signal on
Direction + specifies motion in the negative direction.
Signal levels: Low £1.0VDC @ -30mA, High ³3.5VDC @ +30mA.
3 Reserved Ñ -----------------------
4 In-Position IN Used for digital servo drives to indicate that the motor has reached the target position. TTL switching
levels (Low £0.4V, High ³2.4V). Voltage range: 0-5V.
5 Drive Fault IN An active-high (current not flowing) signal that tells the OEM6200 a drive has faulted. TTL switching
levels (Low £0.4V, High ³2.4V). You can use the DRFLVL command to change the active level to low
(current flowing) if desired. NOTE: The Drive Fault input will not be recognized until the input functions
are enabled with the INFEN1 command.
6 Reserved Ñ -----------------------
7 +5V OUT +5V output.
8 Shield Ñ Connected to chassis (earth) ground within the OEM6200.
9 Step Return (-) IN Differential output. Step (pulse) output to the drive. Step - signal is active low.
10 Direction Return (-) IN Differential output. Low signal on Direction - specifies motion in the positive direction; High signal on
Direction - specifies motion in the negative direction.
11 Shutdown (+) OUT Differential output. This signal is used to turn off current in the motor windings. High signal on
ShutdownÊ+ indicates the motor winding current should be off.
Signal levels: Low £1.0VDC @ -30mA, High ³3.5VDC @ +30mA.
12 Shutdown Return (-) IN Differential output. This signal is used to turn off current in the motor windings. Low signal on
ShutdownÊ- indicates the motor winding current should be off.
13 Ground Ñ Digital ground
14 Ground Ñ Digital ground
15 Reserved Ñ -----------------------
INTERNAL SCHEMATICS
Step, Direction & Shutdown Outputs
+5VDC
GND
15-Pin
DRIVE Connector
Step +
Direction +
Shutdown +
Step -
Direction -
Shutdown -
Shutdown Output Circuit Current Flow
(Active vs. Inactive)
Shutdown +
Shutdown -
Current
Flow
(Active)
Current
Flow
(Active)
Current
Flow
(Inactive)
Current
Flow
(Inactive)
Drive Fault and In-Position Inputs
+5VDC
GND
74HCTxx
1 KW
15-Pin
DRIVE Connector
Drive Fault or
In-Position
Ground
(pin 13 or 14)
15-Pin
DRIVE Connector
+5VDC
GND
+5VDC
GND
+5VDC
GND
CONNECTIONS
OEM6200
Drive
Connect to
DRIVE
connector
USER-PROVIDED CABLE
Maximum recommended cable length is 50 feet (15.25 meters).
Use 22 AWG wire, minimum.
WARNING
Make sure the drive is off before
connecting it to the OEM6200.
Motor
15-pin D
Connector

Chapter 1. Installation 9
Direction Return (pin 10) Direction Return (pin 15)
Step + (pin 1) Step + (pin 1)
Direction + (pin 2) Direction + (pin 2)
Drive Fault (pin 5) Fault Output (pin 9)
Step Return (pin 9) Step Return (pin 14)
Shutdown Return (pin 12) Shutdown Return (pin 17)
Ground (pin 13 or 14) Fault Return (pin 21)
OEM6200
(DRIVE Connector)
Connecting a ZETA, S, OEM650, OEM750 or PDS Drive
Shutdown + (pin 11) Shutdown + (pin 16)
Shield (pin 8)
ZETA, S, OEM or PDS Drive
(25-pin Connector)
Order the 71-010432-10 10-foot cable for plug compatibility with ZETA, S, OEM, and PDS.
Direction Return (pin 10) Direction Return (pin 15)
Step + (pin 1) Step + (pin 3)
Direction + (pin 2) Direction + (pin 4)
Drive Fault (pin 5) ISO Fault + (pin 22)
Step Return (pin 9) Step Return (pin 14)
Shutdown Return (pin 12) Shutdown Return (pin 13)
Ground (pin 13 or 14) Fault Return (pin 23)
OEM6200
(DRIVE Connector)
OEM670SD Drive
Connecting an OEM670SD Drive
Shutdown + (pin 11) Shutdown + (pin 12)
Shield (pin 8)
Direction Ð (pin 10) Direction Ð (pin 19)
Step + (pin 1) Step + (pin 45)
Direction + (pin 2) Direction + (pin 20)
Drive Fault (pin 5) Servo Ready + (pin 15)
Step Ð (pin 9) Step Ð (pin 46)
Shutdown Ð (pin 12) Servo On + (pin 24)
Ground (pin 13) Servo Ready Ð (pin 16)
OEM6200
Connecting a Dynaserv Drive
Shutdown + (pin 11) Servo On Ð (pin 23)
Shield (pin 8)
Dynaserv
(50-pin DN1 Connector)
Order the 71-012985-10 10-foot cable for easy plug compatibility with the Dynaserv.
B Ð (pin 5) B Ð (pin 30)
A + (pin 8) A Ð (pin 14)
B + (pin 6) B + (pin 29)
A Ð (pin 7) A + (pin 13)
Z Ð (pin 3) Z Ð (pin 44)
Z + (pin 4) Z + (pin 43)
DRIVE ConnectorENCODER Connector
In Position + (pin 4) In Position + (pin 27)
Ground (pin 14) In Position Ð (pin 28)
Direction Ð (pin 10) Direction Ð (pin 37)
Step + (pin 1) Step + (pin 15)
Direction + (pin 2) Direction + (pin 13)
Drive Fault (pin 5) Servo Ready + (pin 31)
Step Ð (pin 9) Step Ð (pin 39)
Shutdown Ð (pin 12) Servo On + (pin 1)
Ground (pin 13) Servo Ready Ð (pin 26)
OEM6200
Connecting a Linearserv Drive
Ground (pin 14) Servo On Ð (pin 5)
Linearserv
(50-pin CN1 Connector)
B Ð (pin 5) B Ð (pin 43)
A + (pin 8) A Ð (pin 41)
B + (pin 6) B + (pin 19)
A Ð (pin 7) A + (pin 17)
Z Ð (pin 3) Z Ð (pin 45)
Z + (pin 4) Z + (pin 21)
DRIVE ConnectorENCODER Connector
In Position + (pin 4) In Position + (pin 7)
Shield (pin 8)
OEM6200
(DRIVE Connector)
Step + (pin 1)
PKH130M Drive
Direction + (pin 2)
Drive Fault (pin 5)
Shutdown Return (pin 12)
Direction Return (pin 10)
Step Return (pin 9)
Ground (pin 13 or 14)
Shield (pin 8)
Clock (pin 6)
Direction (pin 5)
Fault (pin 2)
Reset (pin 7)
0V (pin 8)
Connecting a PKH130M Drive

10 OEM6200 Installation Guide
End-of-Travel and Home Limit Inputs
NOTES
¥ Motion will not occur on an axis until you do one of the following:
- Install end-of-travel (POS & NEG) 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 Operation 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
POS & NEG connected to GND (normally-closed switches).
Mount each switch such that the load forces it to open before it
reaches the physical travel limit (leave enough room for the load to
stop). When the load opens the switch, the axis stops at the decel
value set with the LHAD command. The motor will not be able to
move in that same direction until you 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
GND
LIMITS Connector
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
All limit inputs share the
same circuit design.
6.8 KW
47 KW74HCTxx
+5VDC
1
9
PIN OUTS & SPECIFICATIONS (LIMITS Connector)
Pin Name In/Out Description Specification for all limit inputs
9
8
7
6
5
4
3
2
1
1POS
1NEG
1HOM
GND
2POS
2NEG
2HOM
GND
SHLD
IN
IN
IN
Ñ
IN
IN
IN
Ñ
Ñ
Positive-direction end-of-travel limit input, axis 1.
Negative-direction end-of-travel limit input, axis 1.
Home limit input, axis 1.
Digital ground.
Positive-direction end-of-travel limit input, axis 2.
Negative-direction end-of-travel limit input, axis 2.
Home limit input, axis 2.
Digital ground.
Chassis ground (earth).
¥ TTL compatible switching levels (Low £0.4V, High ³2.4V).
Internal 6.8 KWpull-up resistor to +5V. Voltage range = 0-24V.
¥ Active level for HOM is set with HOMLVL (default is active low,
requires n.o. switch).
¥ Active level for POS & NEG is set with LHLVL (default is active
low, requires n.c. switch).

Chapter 1. Installation 11
Encoder
CONNECTIONS & INTERNAL SCHEMATICS
ENCODER Connector
Shield Shield Shield
Ground Black Black
Z Channel Ð Orange/White (n/a)
Z Channel + Orange Blue
B Channel Ð Green/White (n/a)
B Channel + Green Brown
A Channel Ð Brown/White (n/a)
A Channel + Brown White
+5VDC Red Red
Internal Schematic
Colors for Compumotor-supplied Encoders:
-E Series encoders
-RE encoder on OS motor (OSxxx-xxx-RE)
-RC encoder on OS motor (OSxxx-xxx-RC)
-EC encoder on RS motor (RSxxx-xxx-EC)
Encoders on OEM Series motors (except 57 size)
Incremental
Encoder
Max. Cable Length is 100 feet.
Use 22 AWG wire.
SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V
1
GND
+1.8VDC
22 KW
22 KW
+5VDC
Same Circuit
as A Channel
Chassis GND
+5VDC
9
Colors for -HJ encoder on OS motor (OSxxx-xxx-HJ),
and 57-size OEM Series encoders.
(These are single-ended encoders.)
PIN OUTS & SPECIFICATIONS (ENCODER Connector)
Pin Name In/Out Description
1
2
3
4
5
6
7
8
9
SHLD
GND
ZÐ
Z+
BÐ
B+
AÐ
A+
+5V
-----
-----
IN
IN
IN
IN
IN
IN
OUT
ShieldÑInternally connected to chassis ground (earth).
Digital ground.
ZÐ Channel signal input.
Z+ Channel 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 is 1.6 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 OEM6200Õs +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 OEM6200 unconnected.

12 OEM6200 Installation Guide
Joystick & Analog Inputs
CONNECTIONS
SHLD
+5VDC
Analog Channel 1
Analog Channel 2
Velocity Select
Axes Select
Joystick Release
Joystick Trigger
GND
Velocity Select
Axes Select
N.O. Momentary
Joystick Trigger
Joystick potentiometers are 5K W with
60 ° of usable travel adjusted to span
0 W to 1K W .
N.C. Momentary
Joystick Release
1KWResistors *
5KW
X Axis
5KW
Y Axis
Joystick Auxiliary
Joystick Aux.
Joystick
The 1K W resistors for velocity select,
axes select, joystick trigger, & joystick
auxiliary are for noise suppression only.
*
J
O
Y
S
T
I
C
K
23
1
2
16
15
17
18
19
14
8
Feedrate Control (Using a Potentiometer)
1KW
1KW
+5VDC
Analog Channel
GND
J
O
Y
S
T
I
C
K
23
14
*
8
* Pins 1, 2 and 3
SHLD
Joystick
INTERNAL SCHEMATICS
25-Pin
JOYSTICK Connector
GND
74HCTxx
6.8 KW
47 KW
Input
Terminal
(Pins 15-19)
Ground
Terminal
(Pin 14)
+5VDC
150 KW
49.9 KW0.1 µF
10.0 KW
35 V
35 V
This input circuit applies to Axes Select, Velocity Select,
Joystick Release, Joystick Trigger, & Joystick Auxiliary.
Analog Channel
Input Terminal
(Pins 1-3)
Ground
Terminal
(Pin 14)
+5VDC +5VDC
GND
8 Channel
8-bit A/D
Converter
Analog Channel Input CircuitJoystick Input Circuit
TTL compatible:
Low £0.4V; High ³2.4V
25-Pin
JOYSTICK Connector
PIN OUTS & SPECIFICATIONS
Pin In/Out Name Description
1 IN Analog Channel 1 Analog input for feedrate control or joystick control of axis. Voltage range is 0-2.5VDC, 8-bit A/D
converter. CAUTION: Input voltage must not exceed 5VDC.
2 IN Analog Channel 2 (same description as pin 1 above).
3 IN Analog Channel 3 (same description as pin 1 above).
8 Ñ Shield Shield (chassis ground).
14 Ñ Ground Digital ground.
15 IN Axes Select If using one joystick, you can use this input to alternately control axes 1 & 2. *
16 IN Velocity Select Input to select high or low velocity range (as defined with the JOYVH or JOYVL commands). *
17 IN Joystick Release When low (grounded), joystick mode can be enabled. When high (not grounded), program
execution will continue with the first command after the joystick enable (JOY) statement. *
18 IN Joystick Trigger Status of this active-low input can be displayed with the TINOF command, or read by a program
(using the INO command) to control program flow or to enter the OEM6200 into joystick mode
(JOY1). *
19 IN Joystick Auxiliary Status of this active-low input can be displayed with the TINOF command, or read by a program
(using the INO command) to control program flow. *
23 OUT +5VDC (out) +5VDC power output.
* Input voltage range for pins 15-19 is 0-24VDC. TTL compatible (switching voltage levels: Low £0.4V, High ³2.4V).

Chapter 1. Installation 13
Trigger Inputs
TRG
-
A
an
d TRG
-
B
connecte
d
to
GND
(normally-open switches).
The active level (default is active low) can be changed with the INLVL
command.
These inputs are like the general-
purpose inputs on the 50-pin header.
The differences are (1) the triggers
are always internally pulled up to +5V;
and (2) the triggers can be
programmed with the INFNCi-H
command to function as position
capture inputs and registration inputs.
TTL compatible (switching levels: low £0.4V, high ³2.4V).
Voltage range = 0-24V.
IN-P
GND
TRG-A
TRG-B
GND
GND
SHLD
P-CUT
7
1
7
Both trigger inputs share
a common circuit design.
AUX Connector Internal Schematic
6.8 KW
47 KW74HCTxx
+5VDC
GND
Chassis
Ground
Connection to a Sinking Output Device
IN-P
GND
TRG-A
TRG-B
GND
GND
SHLD
P-CUT
7
1
7
Electronic Device
Out 5-24 Volts
Output
Ground
The output should
be able to sink at
least 1mA of current.
OEM6200
AUX Connector
6.8 KW
47 KW74HCTxx
+5VDC
GND
Connection to a Sourcing Output Device
Electronic Device
Out 5-24 Volts
Output
Ground
V1
R1
R
Typical value for R = 450W(assuming R1= 0)
Note: The value of R may vary depending on the value of R1and V1.
IN-P
GND
TRG-A
TRG-B
GND
GND
SHLD
P-CUT
7
1
7
OEM6200
AUX Connector
6.8 KW
47 KW74HCTxx
+5VDC
GND
The resistor provides a path for current to flow from the device when the output is active.
PROGRAMMING TIP
Connecting to a sinking output? Set the trigger inputÕs active level to low with the INLVL command
(¯= active low, default setting). Connecting to a sourcing output? Set the trigger inputÕs active
level to high with the INLVL command (1= active high). Thus, when the output is active, the TIN status
command will report a Ò1Ó (indicates that the input is active), regardless of the type of output that is
connected. For details on setting the active level and checking the input status refer to the INLVL and
TIN command descriptions in the 6000 Series Software Reference.

14 OEM6200 Installation Guide
General-Purpose Programmable Inputs & Outputs
PIN OUTS & SPECIFICATIONS
Pin Function Internal Schematics Specifications
1
2
49
50
PROGRAMMABLE INPUTS/OUTPUTS
50-pin plug is
compatible with
OPTO-22ª
signal
conditioning
equipment.
1 Input #16 (MSB of inputs)
3 Input #15
5 Input #14
7 Input #13
9 Input #12
11 Input #11
13 Input #10
15 Input #9
17 Output #8 (MSB of outputs)
19 Output #7
21 Output #6
23 Output #5
25 Input #8
27 Input #7
29 Input #6
31 Input #5
33 Output #4
35 Output #3
37 Output #2
39 Output #1 (LSB of outputs)
41 Input #4
43 Input #3
45 Input #2
47 Input #1 (LSB of inputs)
49 +5VDC
Inputs
74HCTxx
6.8 KW
47 KW
Input
Connection
Ground
Connection
IN-P
GND
OEM6200
GND
GND
External 5-24VDC Supply
(an alternative to using the
internal +5V supply)
R21
(0 KW)
+5VDC
If you wish the inputs
to be pulled up to a
voltage other than the
internally supplied
+5V, remove R21 on
the OEM6200 PCB
and connect IN-P to an
external supply of up
to 24VDC.
Outputs
10 KW
Output
Connection
Ground
Connection
OUT-P
GND
OEM6200
External 5-24VDC Supply
(an alternative to using the
internal +5V supply)
7406
Open
Collector
ISO
GND
R22
(0 KW)
+5VDC
GND
GND
If you wish the outputs
to be pulled up to a
voltage other than the
internally supplied
+5V, remove R22 on
the OEM6200 PCB
and connect OUT-P to
an external supply of
up to 24VDC.
Inputs
TTL-compatible voltage levels
(low £0.4V, high ³2.4V).
Voltage range = 0-24V.
Sourcing Current: Leave as is to use the
internally supplied +5VDC pull-up supply, or
remove R21 and connect IN-P to an external
5-24VDC power supply.
Sinking Current: On the AUX connector,
connect IN-P to GND (remove R21 first).
STATUS: Check with TIN or INFNC.
Active level: Default is active low, but can
be changed to active high with the INLVL
command.
Outputs
Open collector output.
Max. voltage in the OFF state (not sinking
current) = 24V; max. current in the ON state
(sinking) = 30mA.
Pull-up connection on AUX connector:
Leave as is to use the internally supplied
+5VDC pull-up supply, or remove R22 and
connect OUT-P to an external 5-24VDC
power supply.
STATUS: Check with TOUT or OUTFNC.
Active level: Default is active low, but can
be changed to active high with the OUTLVL
command.
NOTE: All even-numbered pins are connected to a common digital ground Ñ see drawing on page 5.
LSB = least significant bit; MSB = most significant bit
CAUTION:If you fail to remove the resistor (R21 for inputs, or R22 for outputs) before connecting an
external supply to the inputs pull-up terminal (IN-P) or the outputs pull-up terminal (OUT-P),
you will damage the OEM6200.
R21 & R22 Resistor Locations
DRIVE 2
R21 R22
NOTE : You must FIRST
remove the resistor (R21 for
inputs, or R22 for outputs)
before you can connect an
external supply to the inputs
pull-up terminal (IN-P) or the
outputs pull-up terminal
(OUT-P); otherwise, you will
damage the OEM6200.
ENCODER 2
VM50 ADAPTOR Ñ for screw-terminal connections
AUX JOYSTICK
RP240
OEM6200
PROGRAMMABLE INPUTS/OUTPUTS
2-AXIS INDEXER
246810 12 14 16 18 20
1 3 5 7 9 11 13 15 17 19
22 24 26
23
28
25
30
27
32
29
34
31
36
33
38
35
40
37
42
39
44
41
46
43
48
45
50
47 4921
VM50 Adaptor Board
The VM50 snaps
on to any standard
DIN rail.
Color stripe
(pin #1)
Pin outs on the
VM50 are identical to
the pin outs for the
50-pin connectors
(only if the cable is
connected as
illustrated).
2-Foot Cable
(provided with VM50)
Color stripe
(pin #1)