6K Hardware Installation Guide

User Information
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.
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.
Technical Assistance
Contact your local automation technology center (ATC) or distributor.
North America and Asia
Germany, Austria, Switzerland
Parker Hannifin
5500 Business Park Drive
Rohnert Park, CA 94928
Telephone: (800) 358-9070 or (707) 584-7558
Fax: (707) 584-3793
Email: emn_support@parker.com
Internet: http://www.parkermotion.com
Parker Hannifin
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Telephone: +49 (0) 781 509-0
Fax: +49 (0) 781 509-176
Email: sales.hauser@parker.com
Europe (non-German speaking)
Italy
Parker Hannifin plc
Electromechanical Automation, Europe
Arena Business Centre
Holy Rood Close
Poole
Dorset, UK
BH17 7BA
Telephone: +44 (0) 1202 606300
Fax: +44 (0) 1202 606301
Email: support.digiplan@parker.com
Parker Hannifin
20092 Cinisello Balsamo
Milan, Italy via Gounod, 1
Telephone: +39 02 6601 2478
Fax: +39 02 6601 2808
Email: sales.sbc@parker.com
Internet: http://www.parker-emd.com
Internet: http://www.parker-emd.com
Internet: http://www.parker-emd.com
Technical Support E-mail
emn_support@parker.com
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
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
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.
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.
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
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
•
•
•
2
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.
6K Hardware Installation Guide
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-OUTEVM32
SIM card with eight 12-bit analog inputs ................................................................. SIM8-AN-IN
100-foot cable.......................................................................................................... 71-016949-100
Chapter 1. Installation
3
6K Series General Specifications
Parameter
Power (DC input)...................................................
Environmental
Operating temperature........................................
Storage temperature...........................................
Humidity..............................................................
Performance
Command output ................................................
Servo update ......................................................
Stepping accuracy ..............................................
Position range.....................................................
Velocity range .....................................................
Acceleration range..............................................
Communication Interface
Serial
Connection ..................................................
Specification
24 VDC ±10%, 2A max. (current requirements depend on type/amount of I/O used)
32 to 122°F (0 to 50°C)
-22 to 185°F (-30 to 85°C)
0 to 95% non-condensing
± 10V or Step & Direction
As fast as 62.5 µs per axis
± 0 counts from preset total
± 2,147,483,648 counts
Stepper axes: 1 to 2,000,000 counts/sec; Servo axes: 1 to 12,000,000 counts/sec;
1 to 50,000,000 counts/sec/sec
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 KΩ pull-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 KΩ impedance.
Shutdown relay output. Max rating: 175VDC, 0.25A, 3W.
Servo drive shutdown (pins 7 & OUT DIODE”)8 on “DRIVE”)
Differential line drive output. Signal high > 3.5VDC @ +30 mA,
Step, Direction, Shutdown (pins 1,2,11 on “DRIVE”)
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.
4
6K Hardware Installation Guide
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
8
7
6
5
4
3
2
1
2-wire RS-485
4-wire RS-485
Reserved
Enable RS-485
120Ω Rx termination resistor
120Ω Tx termination resistor
681Ω Tx+ bias resistor
681Ω Tx- bias resistor
RS-485 2Wire
ON
OFF
OFF
ON
ON *
ON *
ON
ON
RS-485 4Wire
OFF
ON
OFF
ON
ON
ON
ON
ON
RS-232
OFF
OFF
OFF
OFF
OFF
OFF
OFF
OFF
* For 2-wire RS-485, use switch #3 or switch #4 for 120Ω termination (not both).
Chapter 1. Installation
5
6K Series Dimensions & Mounting
Dimensions
6K2 & 6K4
6K6 & 6K8
6
6K Hardware Installation Guide
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)
Chapter 1. Installation
7
6K Series Electrical Connections
Encoder Connections. See page 19.
Drive Connections. See page 10 for servos, page 15 for steppers.
RS-232 (“COM1”). See page 25.
Master Encoder Connections. See page 19.
Ethernet Connection. See page 25.
Expansion I/O Connection.
(“EVM32”) See page 43.
“COM2”:
RP240 (page 28).
RS-485 (page 5 & 26)
Trigger Input Connections. See page 21.
Programmable Outputs. See page 21.
Limit Input Connections. See page 20.
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.
8
6K Hardware Installation Guide
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.
Chapter 1. Installation
9
Drives: Servo (±10V) Drives
(“DRIVES” connectors)
Internal Schematics
Drive Cable:
Maximum recommended length is 15 feet (4.56 m).
Use 22 AWG wire.
10
6K Hardware Installation Guide
Pin Outs & Specifications — Servo Drives Only (15-Pin “Drive” Connectors)
Pin * Name
In/Out
71-017003-10
Description
Cable Colors ***
3
OUT
Black
CMD +
Command signal output to the drive. ±10VDC analog output. 12-bit DAC. Load should be >2kΩ
impedance.
5
DFT
IN
Drive fault input. Set active level with the DRFLVL command (default is active low). The drive
Green
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
7
SHTNO
OUT
Brown
Command signal return.
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
6K Connections
APEX Drive Connections
Signal Name
Signal Name Connector
↔ SHTNO
Drive
↔ DFT
Drive
↔ AGND
Drive
Enable In
Fault Out
GND
COM
Command +
Command –
CHA +
CHA –
CHB +
CHB –
CHZ +
CHZ –
GND
Chapter 1. Installation
11
Drive
Pin
7
5
15
14
↔ CMD +
↔ CMD –
Drive
3
Drive
6
↔ A+
↔ A–
Encoder
2
Encoder
3
↔ B+
↔ B–
Encoder
4
Encoder
5
↔ Z+
↔ Z–
↔ GND
Encoder
6
Encoder
Encoder
7
9
Jumper AGND to COM.
CONNECTIONS TO THE ARIES SERIES DRIVE
Aries Drive Connections
6K Connections
Signal Name
Connector
Pin
GND
Drive I/O
2
Enc out A+
Drive I/O
3
Enc out A-
Drive I/O
4
Enc out B+
Drive I/O
5
Enc out B-
Drive I/O
6
Enc out Z+
Drive I/O
7
Enc out Z-
Drive I/O
8
ENABLE+
Drive I/O
1
FAULT+
Drive I/O
9
AIN+
Drive I/O
14
AIN-
Drive I/O
15
FAULT-
Drive I/O
16
GND
Drive I/O
ENABLE-
Drive I/O
Signal Name Connector
Pin
↔ GND
↔ A+
Encoder
9
Encoder
2
↔ A↔ B+
Encoder
3
Encoder
4
↔ B↔ Z+
Encoder
5
Encoder
6
↔ ZEncoder
↔ SHUTDOWN- Drive
↔ DRF
Drive
7
12
5
↔ CMD+
↔ CMD-
Drive
3
Drive
6
Drive
13
17
↔ GND
↔ GND
Drive
13
21
↔ SHUTDOWN+ Drive
11
CONNECTIONS TO THE BD-E DRIVE
BD-E Drive Connections
6K Connections
Signal Name
Connector Pin
Signal Name Connector
V2
User I/O
1
Pin
↔
CMD –
Drive
6
V1
User I/O
GND
User I/O
2
↔
CMD +
Drive
3
4
↔
GND
Encoder
RST
9
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).
12
6K Hardware Installation Guide
Jumper SHTNC to ground (GND).
CONNECTIONS TO THE COMPAX3 DRIVE
Compax3 Drive Connections
Jumper pins 6 & 8.
Jumper pins
1, 7, & 11.
Signal Name
Connector
Pin
Analog input +
x11
9
Analog input -
x11
11
Output 0
x12
2
GND 24V
x12
15
Input 0
x12
6
Input 1
x12
7
Input 2
x12
8
24 V+ Out
x12
1
6K Connections
Signal Name Connector
Pin
↔ CMD+
↔ CMD-
Drive
3
Drive
6
↔ DFT
↔ GND
Drive
5
Drive
13
↔ COM
↔ SHTNO
Drive
14
Drive
7
↔ A+
↔ A-
Encoder
2
Encoder
3
↔ B+
↔ B-
Encoder
4
Encoder
5
Encoder
6
Encoder
7
Encoder
9
24V In for
Outputs
x12
11
A
x11
7
A/
x11
6
B
x11
8
B/
x11
12
N
x11
14
N/
x11
13
↔ Z+
↔ Z-
GND
x11
15
↔ GND
CONNECTIONS TO THE DYNASERV DRIVE
Dynaserv Drive Connections
Signal Name
Connector
Pin
A+
V1
DN1
DN1
13
14
6K Connections
Signal Name
↔ A+
↔ A–
↔ SHTNO
Connector
Pin
Encoder
Encoder
2
3
Drive
7
↔ +5V
↔ B+
Encoder
1
Encoder
4
↔ B–
↔ Z+
Encoder
5
Encoder
6
Encoder
7
Drive
3
Drive
15
SRVON
DN1
23
VCC
DN1
24
B+
DN1
29
B–
DN1
30
Z+
DN1
43
Z–
DN1
44
VIN
DN1
49
↔ Z–
↔ CMD +
AGND
DN1
50
↔ AGND
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.
Chapter 1. Installation
13
Jumper COM to ground (GND).
CONNECTIONS TO THE DYNASERV GE DRIVE
Dynaserv GE Drive Connections
Signal Name
Connector
Pin
ACMD IN+
CN4
35
ACMD IN-
CN4
6K Connections
Signal Name Connector
Pin
↔
CMD+
Drive
3
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
Jumper pins 13 & 14.
CONNECTIONS TO THE LINEARSERV DRIVE
Linearserv Connections
6K Connections
Signal Name
Connector Pin
Com +
CN1
1
↔
Signal Name Connector
+5V
Encoder
Pin
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
6
Agnd-VEL
CN1
24
↔
CMD –
Drive
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.
14
6K Hardware Installation Guide
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).
CONNECTIONS TO THE OEM670T & OEM675T DRIVE
6K Connections
OEM67x Drive Connections
Signal Name
Pin
CMD +
1
CMD –
2
FAULT
9
ENABLE
10
GND
11
Signal Name Connector
↔ CMD +
↔ CMD –
↔ DFT
↔ SHTNO
GND
16
↔ COM
↔ AGND
GND
7
↔ GND
Pin
Drive
3
Drive
6
Drive
5
Drive
7
Drive
14
Drive
15
Drive
13
CONNECTIONS TO THE SV DRIVE
SV Drive Connections
Connect the
SV’s GND (X13
pin 05) to the
ground from the
external 24
VDC power
supply.
6K Connections
Signal Name
Connector Pin
SOLL +
X8
1
SOLL –
X8
2
N
X13
2
B
X13
3
A
X13
4
GND
X13
5
N/
X13
9
B/
X13
10
A/
X13
11
+5V In
X13
13
ENABLE
X10
1
Signal Name Connector
↔ CMD +
↔ CMD –
↔ Z+
↔ B+
Pin
Drive
3
Drive
6
Encoder
6
Encoder
4
↔ A+
↔ ISO GND
Encoder
2
Drive
13
↔ Z–
↔ B–
Encoder
7
Encoder
5
↔ A–
↔ +5V Out
Encoder
3
Encoder
1
Drive
14
Drive
5
Drive
7
FAULT OUTPUT X10
15
↔ COM
↔ DRIVE FLT
+24V OUT
X10
9
↔ SHTNO *
ENABLE GND
+24V OUT GND
X10
X10
8
10
+24V IN
GND for +24V
X10
X10
14
16
Short these term inals together
–
+
External 24VDC
Power Supply
* The SHTNO relay output 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 a DRIVE1 command to the axis.
NOTE: Adding the 500Ω resistor assumes the drive fault input is pulled up.
(CNTRL-P is internally pulled up to the voltage at the VINref terminal
— if no voltage is connected to VINref, CNTRL-P is pulled up internally
to 24 VDC.) However, if all axes are SV drives, do not connect the
500Ω resistor; instead, connect the CNTRL-P pin to GND.
Chapter 1. Installation
15
500Ω
See note below.
CONNECTIONS TO THE TQ10 DRIVE
6K Connections
TQ Drive Connections
Jumper pins
04 and 10.
Signal Name
Pin
ENABLE IN
1
↔
Signal Name Connector Pin
SHTNO
Drive
ENABLE GND
2
↔
COM
Drive
14
FAULT OUT +
3
↔
DFT
Drive
5
FAULT OUT –
4
↔
AGND
Drive
15
COMMAND +
7
↔
CMD +
Drive
3
COMMAND –
8
↔
CMD –
Drive
COMMAND SHLD
9
↔
(Cable Shield) ---------
GND
10
7
6
----
CONNECTIONS TO THE Vix DRIVE
Vix Drive Connections
16
6K Connections
Signal Name
Connector
Pin
Signal Name Connector
Pin
ANA1+ IN
X4
1
↔
CMD+
Drive
3
ANA1- IN
X4
2
↔
CMD-
Drive
6
↔
COM
Drive
14
0V
X4
3
↔
GND
Drive
13
ENABLE
X4
11
↔
SHTNO
Drive
7
FAULT
OUTPUT
X4
6
↔
DRF
Drive
5
ENC. A+ OUT
X4
14
↔
A+
Encoder
2
ENC. A- OUT
X4
9
↔
A-
Encoder
3
ENC. B+ OUT
X4
15
↔
B+
Encoder
4
ENC. B- OUT
X4
10
↔
B-
Encoder
5
ENC. Z+ OUT
X4
5
↔
Z+
Encoder
6
ENC. Z- OUT
X4
4
↔
Z-
Encoder
7
6K Hardware Installation Guide
Jumper COM to ground (GND).
Drives: Step & Direction Drives
(“DRIVES” connectors)
INTERNAL SCHEMATICS
Drive Cable:
Maximum recommended length is 50 feet (15.24 m).
Use 22 AWG wire.
Chapter 1. Installation
17
PIN OUTS & SPECIFICATIONS — STEPPER DRIVES ONLY (15-pin “DRIVE” connectors)
Pin * Name
In/Out
1
OUT
Step +
Description
Differential output. Step (pulse) output to the drive. Step + signal is active high.
Signal levels: Low ≤ 1.0 VDC @ -30 mA, High ≥ 3.5 VDC @ +30 mA.
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 ≤ 1.0 VDC @ -30 mA, High ≥ 3.5 VDC @ +30 mA.
4
Stall
IN
5
DFT
IN
Encoder-less Stall Detection input for use with the GEMINI drive.
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**.
9
Step –
OUT
10
Direction –
OUT
Differential output. Step (pulse) output to the drive. Step – signal is active low.
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 Shutdown + indicates the motor winding current should be off.
Signal levels: Low ≤ 1.0 VDC @ -30 mA, High ≥ 3.5 VDC @ +30 mA.
12
Shutdown – OUT
Differential output. This signal is used to turn off current in the motor windings.
Low signal on Shutdown – indicates the motor winding current should be off.
13
ISO GND
-----
Isolated logic ground.
* Pin 3-4, 6-8, and 15 are reserved for connection to a ±10V analog servo drive (see page 10).
** The VINref, CNTRL-P, and GND terminals are located on the screw-terminal connector on top of the 6K chassis.
CONNECTIONS TO THE ARIES SERIES DRIVE
Aries Drive Connections
18
Signal Name
Connector
Pin
GND
Drive/I/O
2
Enc outA+
Drive/I/O
3
Enc outA-
Drive/I/O
4
Enc outB+
Drive/I/O
5
Enc out B-
Drive/I/O
6
Enc out Z+
Drive/I/O
7
Enc out Z-
Drive/I/O
8
ENABLE+
Drive/I/O
1
FAULT+
Drive/I/O
9
STEP+
Drive/I/O
10
STEP-
Drive/I/O
11
DIRECTION+
Drive/I/O
12
DIRECTION-
Drive/I/O
13
FAULT-
Drive/I/O
16
6K Hardware Installation Guide
6K Connections
Signal Name Connector
Pin
↔ GND
↔ A+
Encoder
9
Encoder
2
↔ A↔ B+
Encoder
3
Encoder
4
↔ B↔ Z+
Encoder
5
Encoder
6
↔ ZEncoder
↔ SHUTDOWN- Drive
↔ DRF
Drive
↔ STEP+
↔ STEP-
7
12
5
Drive
1
Drive
↔ DIRECTION+ Drive
↔ DirectionDrive
↔ GND
Drive
9
2
10
13
CONNECTIONS TO THE COMPAX3 DRIVE
Compax3 Drive Connections
Signal Name
Step+ (5V)
Connector
x11
Pin
7
Step- (5V)
x11
6
Dir + (5V)
x11
8
Dir - (5V)
x11
12
x12
2
x12
15
Input 0
x12
6
Input 1
x12
7
Output 0
Jumper pins 6 & 8. GND 24 V
Input 2
x12
8
24 V+ Out
x12
1
24V In for Outputs x12
6K Connections
Signal Name Connector
Drive
↔ STEP+
↔ STEPDrive
DIRECTION- Drive
↔ DIRECTION+ Drive
↔ DFT
Drive
↔ GND
Drive
↔ COM
↔ SHTNO
Pin
1
9
10
2
5
13
Drive
14
Drive
7
11
Jumper pins
1, 7, & 11.
CONNECTIONS TO THE DYNASERV DRIVE
6K Connections
Dynaserv Drive Connections
Signal Name
Connector
Pin
Step +
DN1
45
Step –
DN1
46
Direction +
DN1
20
Direction –
DN1
19
Servo On –
DN1
23
Servo On +
DN1
24
Servo Ready +
DN1
15
Servo Ready –
DN1
16
A+
DN1
13
A–
DN1
14
B+
DN1
29
B–
DN1
30
Z+
DN1
43
Z–
DN1
44
Signal Name Connector
↔ Step +
↔ Step –
↔ Direction +
↔ Direction –
Pin
Drive
1
Drive
9
Drive
2
Drive
10
↔ Shutdown +
↔ Shutdown –
Drive
11
Drive
12
↔ Drive Fault
↔ Ground
Drive
5
Drive
13
↔ A+
↔ A–
Encoder
2
Encoder
3
↔ B+
↔ B–
Encoder
4
Encoder
5
↔ Z+
↔ Z–
Encoder
6
Encoder
7
NOTE: These connections assume that the Dynaserv is left in its factory
default setting for Position Mode (for accepting step and direction
command signals). Refer to your Dynaserv user guide for verification.
Chapter 1. Installation
19
CONNECTIONS TO THE DYNASERV GE DRIVE
Dynaserv GE Drive Connections
Signal Name
Connector
Pin
ACMD IN+
CN4
35
ACMD IN-
CN4
6K Connections
Signal Name Connector
Pin
↔
CMD+
Drive
3
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 EAC, EDC, OEM750, S, PDS, and ZETA DRIVES
Drive Connections
6K Connections
Signal Name
Connector Pin
Step +
25-pin
1
↔
Signal Name Connector
Step +
Drive
Pin
1
Step –
25-pin
14
↔
Step –
Drive
9
Direction +
25-pin
2
↔
Direction +
Drive
2
Direction –
25-pin
15
↔
Direction –
Drive
10
Shutdown +
25-pin
16
↔
Shutdown +
Drive
11
Shutdown –
25-pin
17
↔
Shutdown –
Drive
12
Fault Output
25-pin
9
↔
Drive Fault
Drive
5
Fault Return
25-pin
21
↔
Ground
Drive
13
NOTES
• The PDS drive requires a PULSE command setting of 1.0
(PULSE1.0).
• Use the 10-foot cable (p/n 71-016137-10) for plug compatibility.
20
6K Hardware Installation Guide
Jumper pins 13 & 14.
CONNECTIONS TO THE LINEARSERV DRIVE
6K Connections
Linearserv Drive Connections
Signal Name
Connector
Pin
Step +
CN1
15
Step –
CN1
39
Direction +
CN1
13
Direction –
CN1
37
Servo On –
CN1
5
Servo On +
CN1
1
Servo Ready +
CN1
31
Servo Ready –
CN1
26
A+
CN1
17
A–
CN1
41
B+
CN1
19
B–
CN1
43
Z+
CN1
21
Z–
CN1
45
Signal Name Connector
↔ Step +
↔ Step –
↔ Direction +
↔ Direction –
↔ Ground
↔ Shutdown –
Pin
Drive
1
Drive
9
Drive
2
Drive
10
Drive
13
Drive
12
↔ Drive Fault
↔ Ground
Drive
5
Drive
13
↔ A+
↔ A–
Encoder
2
Encoder
3
↔ B+
↔ B–
Encoder
4
Encoder
5
↔ Z+
↔ Z–
Encoder
6
Encoder
7
NOTE: These connections assume that the Linearserv is left in its factory
default setting for Position Mode (for accepting step and direction
command signals). Refer to your Linearserv user guide for verification.
CONNECTIONS TO THE OEM670SD DRIVE
6K Connections
OEM670SD Connections
Signal Name
Connector
Pin
Step +
25-pin
3
Step –
25-pin
14
Direction +
25-pin
4
Direction –
25-pin
15
Shutdown +
25-pin
12
Shutdown –
25-pin
13
ISO Fault +
25-pin
22
Fault Return
25-pin
23
Signal Name Connector
Pin
↔ Step +
↔ Step –
Drive
1
Drive
9
↔ Direction +
↔ Direction –
Drive
2
Drive
10
↔ Shutdown +
↔ Shutdown –
Drive
11
Drive
12
↔ Drive Fault
↔ Ground
Drive
5
Drive
13
CONNECTIONS TO THE PKH130M DRIVE
6K Connections
PKH130 Drive Connections
Signal Name
Pin
Clock
6
Direction
5
Fault
2
Reset
0V
Signal Name Connector
↔ Step –
↔ Direction +
9
Drive
2
Drive
5
7
↔ Drive Fault
↔ Shutdown –
Drive
12
8
↔ Ground
Drive
13
NOTE: The PKH130M drive requires a PULSE setting of PULSE8.0.
Chapter 1. Installation
21
Pin
Drive
CONNECTIONS TO THE VIX DRIVE
Vix Drive Connections
22
6K Connections
Signal Name
Connector
Pin
Signal Name Connector
0V
X4
3
Pin
↔
COM
14
ENABLE
X4
ENC. A+ IN
X4
11
↔
GND
Drive
13
12
↔
SHTNO
Drive
7
ENC. A- IN
ENC. B- IN
X4
7
↔
STEP+
Drive
1
X4
8
↔
STEP-
Drive
9
ENC.B+ IN
X4
13
↔
DIRECTION- Drive
10
FAULT
OUTPUT
X4
6
↔
DIRECTION+ Drive
2
ENC. A+ OUT
X4
14
↔
DRF
Drive
5
ENC. A- OUT
X4
9
↔
A+
Encoder
2
ENC. B+ OUT
X4
15
↔
A-
Encoder
3
ENC. B- OUT
X4
10
↔
B+
Encoder
4
ENC. Z+ OUT
X4
5
↔
B-
Encoder
5
6K Hardware Installation Guide
Drive
Encoders
(“ENCODERS” and “MASTER ENCODER” connectors)
ENCODER INPUTS: Differential comparator accepts two-phase quadrature incremental encoders with
differential (recommended) or single-ended outputs. Max. frequency is 12.0 MHz post quadrature.
TTL-compatible voltage levels: Low ≤ 0.4V, High ≥ 2.4V. Maximum input voltage is 5 VDC.
MASTER ENCODER: The master encoder is used for Following, and not for servo feedback or stepper
stall detect. The pin outs are the same as the other encoders, except that pin 8 is ISO GND (can’t use a
single-ended encoder).
NOTE:
When connecting a –HJ single-ended
encoder to the 6K, be sure to
connect the encoder’s white lead
(channel A+) to pin #2 (A+). The
current Installation Guide incorrectly
shows the white lead connected to
Chapter 1. Installation
23
Limit Inputs
(“LIMITS/HOME” connectors)
NOTES
• Motion will not occur on an axis until you do one of the following:
- Install end-of-travel limit switches
- Disable end-of-travel limits with the LHØ command (only if load not coupled)
- Change the active level of the limits with the LIMLVL command.
• End-of-travel input functionality: 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 LHAD deceleration. 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.
• Home input functionality: After initiating a homing move with the HOM command, the 6K
waits for the home input switch to close, indicating the load has reached the desired
“home” reference position.
• Refer to the Basic Operation Setup chapter in the 6K Series Programmer’s Guide for
in-depth discussions about using end-of-travel limits and homing.
• See page 41 for connections to the “VM25” screw-terminal converter (sold separately).
For easy screw-terminal
connections, use the “VM25”
screw-terminal converter (sold
separately, includes 2-foot
cable). Connection instructions
are provided on page 41.
PIN OUTS & SPECIFICATIONS
Pin #
25
23
21
19
17
15
13
11
9
7
5
3
1
In/Out
----IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
IN
Axes 1-4
----1POS
1NEG
1HOME
2POS
2NEG
2HOME
3POS*
3NEG*
3HOME*
4POS*
4NEG*
4HOME*
Axes 5-8
----5POS
5NEG
5HOME
6POS
6NEG
6HOME
7POS *
7NEG *
7HOME *
8POS *
8NEG *
8HOME *
Description (input functions programmed by LIMFNC)
RESERVED
Positive direction end-of-travel limit, axis 1 or 5.
Negative direction end-of-travel limit, axis 1 or 5.
Home limit, axis 1 or 5.
Positive direction end-of-travel limit, axis 2 or 6.
Negative direction end-of-travel limit, axis 2 or 6.
Home limit, axis 2 or 6.
Positive direction end-of-travel limit for axis 3 or 7.
Negative direction end-of-travel limit for axis 3 or 7.
Home limit, or general purpose input for axis 3 or 7.
Positive direction end-of-travel limit for axis 4 or 8.
Negative direction end-of-travel limit for axis 4 or 8.
Home limit for axis 4 or 8.
All even number pins are connected to isolated logic ground.
* On 6K2 and 6K6 products, these pins function as general-purpose inputs (function is set with the LIMFNCi-A command).
** The VINref, LIM-P, and GND terminals are located on the screw-terminal connector on top of the 6K chassis.
24
6K Hardware Installation Guide
Specification for limit inputs
•
Voltage range is 0-24 VDC.
•
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 all limit inputs
sinking inputs, connect the LIM-P
terminal** to the GND terminal**.
•
Status: Check with TLIM or LIM.
•
Active level is set with the LIMLVL
command. Default is active low:
end-of-travel limits which require a
n.c. switch and home limits which
require a n.o. switch.
Onboard Programmable Inputs and Outputs
Master Trigger: The “MASTER TRIG” input on this
connector has the same circuit design as trigger
inputs on the “TRIGGERS/OUTPUTS” connectors.
For easy screw-terminal
connections, use the “VM25”
screw-terminal converter (sold
separately, includes 2-foot
cable). Connection instructions
are provided on page 41.
PIN OUTS & SPECIFICATIONS (25-pin “TRIGGERS/OUTPUTS” connectors)
Pin #*
25
23
21
19
17
15
13
11
9
7
5
3
1
In/Out
----IN
IN
IN
IN
IN
IN
IN
IN
OUT
OUT
OUT
OUT
Description (axes 1-4)
Reserved
Trigger input 1 (TRIG-1A)
Trigger input 2 (TRIG-1B)
Trigger input 3 (TRIG-2A)
Trigger input 4 (TRIG-2B)
Trigger input 5 (TRIG-3A)
Trigger input 6 (TRIG-3B)
Trigger input 7 (TRIG-4A)
Trigger input 8 (TRIG-4B)
GP Output 1
GP Output 2
GP Output 3
GP Output 4
Description (axes 5-8)
Reserved
Trigger input 9 (TRIG-5A)
Trigger input 10 (TRIG-5B)
Trigger input 11 (TRIG-6A)
Trigger input 12 (TRIG-6B)
Trigger input 13 (TRIG-7A)
Trigger input 14 (TRIG-7B)
Trigger input 15 (TRIG-8A)
Trigger input 16 (TRIG-8B)
GP Output 5
GP Output 6
GP Output 7
GP Output 8
(GP=general purpose)
* All even number pins are connected to isolated logic ground.
** The VINref, TRIG-P, and GND terminals are located on the screw-terminal connector
on top of the 6K chassis.
Chapter 1. Installation
25
Specs for Trigger Inputs
•
Voltage range is 0-24 VDC.
•
Trigger input 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 all
limit inputs sinking inputs, connect
the TRIG-P terminal** to the GND
terminal**.
•
Status: Check with TIN or IN.
•
Programmable functions with the
INFNC command. Can also be
used as a “Trigger Interrupt” input
(INFNCi-H) for position capture
and registration.
•
Active level is set with the INLVL
command. Default is active low
(see n.o. switch in diagram above).
Specs for GP Outputs
•
Open collector output;
will sink up to 300 mA.
•
Status: Check with
TOUT or OUT.
•
Programmable functions
with the OUTFNC
command. Can also be
used as an “Output on
Position” output
(OUTFNCi-H).
•
Active level is set with
the OUTLVL command.
Default is active low.
•
If the outputs are driving
inductive loads, connect
the OUT DIODE
terminal to 24 VDC.
Trigger Input Connections
If you are connecting to a combination of sinking and sourcing output, connect the VINref terminal to the
voltage supply (factory default is internally connected to 24 VDC) to accommodate the sinking outputs.
Then for each input connected to a sourcing output, wire an external resistor between the trigger input and
GND. The resistor provides a path for current to flow from the device when the output is active.
Programming Tip: If connecting to sinking output, set the trigger’s INLVL setting to active low (INLVL0).
If connecting to a sourcing output, set the trigger’s INLVL setting to active high (INLVL1). Thus, when the
output is active, the TIN/IN status will report a “1” (indicates that the input is active), regardless of the type
of output that is connected.
26
6K Hardware Installation Guide
Programmable Output Connections
Programming Tip: If connecting to an active-high sinking input, set the output’s OUTLVL setting to active
high (OUTLVL1). If connecting to an active-low sourcing input, set the output’s OUTLVL setting to active low
(OUTLVL0). Thus, when the 6K’s output is activated, current will flow through the attached input and the
TOUT/OUT status will report a “1” (indicates the output is active), regardless of the type of input that is
connected.
Chapter 1. Installation
27
Communication Interface
Communication Interface Options
RS-232 (“COM1” port)
Set up for use as the primary
RS-232 port; configurable for
RP240.
Ethernet Port
RS-232/485 (“COM2” port).
• Set up for use with an
RP240; configurable for
RS-485 or as the primary
RS-232 port.
Using Multiple Ports
You can communicate to either the Ethernet port or the RS-232 port (COM1) at any given time; the port
that you communicate to first is the only one that is recognized until you cycle power.
You can communicate to the Ethernet port or the RS-232 port (COM1) while the 6K is also communicating
with an RP240 via the RS-232/485 port (COM2).
28
6K Hardware Installation Guide
RS-232 Communication
RS-232 Connector
Pin Outs for RS-232 Communication
Pin
2
3
5
Description
Rx (receive). Connect to Tx on your computer.
Tx (transmit). Connect to Rx on your computer.
GND (isolate ground). Connect to GND on your
computer.
Maximum RS-232 cable length is 50 feet (15.25 meters).
The 6K, by default, communicates at 9600 baud. To change
this setting, use the BAUD command.
To establish unique addresses for daisy-chained units, use
the ADDR command.
Ethernet Communication
NOTES
•
•
Status LEDs:
Green LED is on when the Ethernet physical connection is OK.
Yellow LED is on when the 6K is transmitting over the Ethernet interface.
Connect to a standard 10Mbps Ethernet card. IP address default is 192.168.10.30. To change
the IP address, use the NTADDR command. To ascertain the Ethernet address, use the TNTMAC
command.
Direct PC to 6K Connection
Network Hub Connection
NOTE: Use a “Crossover” Ethernet (10Base-T) cable.
NOTE: Use a “Straight-Through” Ethernet (10Base-T) cable.
A 10-foot cable is provided in the ship kit (p/n 71-017635-01).
Chapter 1. Installation
29
RS-485 Communication
RS-232 Connector
Pin Outs for RS-485 Communication
Pin
1
4
6
7
8
•
•
•
•
•
4-Wire Connections (plus ground):
30
6K Hardware Installation Guide
Description
Rx + (also called RD B)
Tx + (also called TD B)
GND (isolate ground)
Rx – (also called RD A)
Tx – (also called TD A)
Maximum RS-485 cable length is 4000 feet (1220 meters).
To establish unique addresses for multi-drop units, use the
ADDR command.
Use termination resistors at both ends of the multi-drop. Keep
stubs as short as possible.
Recommended cables: 2-wire: Belden 9841
4-wire: Belden 9842
Refer to the diagrams below (or page 5) for necessary DIP
switch settings for 2-wire and 4-wire configuration.
2-Wire Connections (plus ground):
Chapter 1. Installation
31
RP240 Remote Operator Panel
RS-232 Connector
NOTE for RS-485 Users
If you configured the “RS-232/485” connector for RS-485
communication (see page 5), you must connect the RP240 to
the “RS-232” connector.
NOTE: You will have to issue these commands to configure the
“RS-232” connector for use with an RP240:
PORT1
Select “RS-232” (COM1) as the affected
DRPCHK1 On power up, check for RP240 on COM1.
NOTE: Refer to the Model RP240 User Guide for RP240 specifications and mounting instructions.
Expansion I/O
The 6K product allows you to expand your system I/O by connecting up to eight EVM32 expansion I/O
bricks. EVM32 bricks are sold separately from the 6K controller. Each I/O brick can hold from 1 to 4 of
these I/O SIM modules in any combination:
•
•
•
Digital Inputs SIM (8 inputs)
Digital Outputs SIM (8 outputs)
Analog Inputs SIM (8 inputs)
For information about connecting the expansion I/O, see Appendix B, page 45.
32
6K Hardware Installation Guide
24 VDC Power Input
The “PS-60W” is an optional
power supply which can be
ordered separately. It
provides 60 Watts of power
(2.5A @ 25VDC).
Guide to Power Requirements
6K2 or 6K4...............................................................................24 Watts (1A @ 24 VDC)
6K6 or 6K8...............................................................................36 Watts (1.5A @ 24 VDC)
For each encoder.....................................................................Add 1.5 Watts
For each output........................................................................Add ≤ 7.5 Watts (up to 300 mA/output)
For example, a 6K4 with 4 encoders connected and 4 digital outputs (300 mA @ 224 VDC)
requires 60 Watts of power.
Chapter 1. Installation
33
Testing the Installation
Warning — This test procedure allows you to control your system I/O and produce motion. Therefore, you
should make sure that exercising the I/O will not damage equipment or injure personnel.
Test Setup
1.
2.
3.
If you haven’t already done so, made the necessary communication connections (see page 28).
Install Motion Planner (CD is provided in your ship).
Launch Motion Planner and click on the “Terminal” window tab to view the terminal emulator. You now have live communication with
the 6K product.
Connections
Test Procedure
Response Format (left to right)
TLIM response:
NOTE: If you are not using end-of-travel limits, issue the Disable Limits (@LHØ)
End-of-travel
command and ignore the first two bits in each response field.
bit 1 = Axis 1 POS limit
and
bit 2 = Axis 1 NEG limit
1. Enable the hardware end-of-travel limits with the @LH3 command.
Home Limits
bit 3 = Axis 1 HOM limit
2. Close the end-of-travel switches and open the home switches.
bit 4 = Axis 2 POS limit
3. Enter the TLIM command. The response should be *TLIM11Ø_11Ø_11Ø …
bit 5 = Axis 2 NEG limit
4. Open the end-of-travel switches and close the home switches.
bit 6 = Axis 2 HOM limit
5. Enter the TLIM command. The response should be *TLIMØØ1_ØØ1_ØØ1 …
and so on (3 inputs/axis)
6. Close the end-of-travel switches and open the home.
7. Enter the TLIM command. The response should be *TLIM11Ø_11Ø_11Ø …
“POS” means positive travel.
“NEG” means negative travel.
“HOM” means home.
TPE response (encoder counts):
1. Enter these commands, (preset the RETURN key after each command): ENCCNT1,
Encoder
L, TPE, T.3, and then LN. This will begin a continuous display of all encoder
±encoder1, ±encoder1, …
(not coupled to
positions. Press the RETURN key to move the display to the next line and save the
current value.
the load or
Direction of rotation:
2. Manually rotate the encoder shaft and verify that the position changes as you rotate
motor)
the encoder shaft. If you connected the encoder as instructed earlier in this chapter,
moving the shaft clockwise should increase the position reading. If the reading does
not change, or if the direction is reversed, check the connections. If the direction is
reversed, swap the A+ and A- connections.
3. When finished, enter the ^K (ctrl-K) command to stop the continuous report-back.
Trigger Inputs
1.
2.
3.
4.
1.
Onboard
Outputs
2.
3.
4.
1.
2.
RP240
3.
Open the trigger input switches or turn off the device driving the inputs.
Enter the TIN command.
Response should be *TINØØØØ_ØØØØ_Ø or *TINØØØØ_ØØØØ_ØØØØ_ØØØØ_Ø.
Close the trigger input switches or turn on the device driving the inputs.
Enter the TIN command.
Response should be *TIN1111_1111_1 or *TIN1111_1111_1111_1111_1.
TIN response:
Enter the @OUT1 command to turn on (sink current on) all programmable outputs.
Verify that the device(s) connected to the outputs activated properly.
Enter the TOUT command. Response should be *TOUT1111 or *TOUT1111_1111.
Enter the @OUTØ command to turn off all programmable outputs. Verify that the
device(s) connected to the outputs de-activated properly.
Enter the TOUT command. Response should be *TOUTØØØØ or *TOUTØØØØ_ØØØØ.
Cycle power to the 6K.
If the RP240 is connected properly, the RP240’s status LED should be green and
one of the lines on the computer or terminal display should read *RP24Ø
CONNECTED. If the RP240’s status LED is off, check to make sure the +5V
connection is secure. If the RP240’s status LED is green, but the message on the
terminal reads *NO REMOTE PANEL, the RP240 Rx and Tx lines are probably
switched. Remove power and correct.
Assuming you have not written a program to manipulate the RP240 display, the
RP240 screen should display the following:
TOUT response:
COMPUMOTOR 6Kn CONTROLLER
RUN
JOG STATUS DRIVE DISPLAY
Enable Input
34
1.
2.
3.
4.
Bits 1-n, from left to right,
represent outputs 1-n.
The 6K2 & 6K4 have 4 outputs,
the 6K6 & 6K8 have 8 outputs.
ASSUMPTIONS
RP240 connected to the COM
2 (“RS-232/485”).
COM 2 configured for RP240. To
verify, type these commands:
PORT2 <cr>
DRPCHK<cr>
The system response should
report “*DRPCHK3”.
ETC
Open the enable input (ENABLE) switch.
Enter the TINO command. Response should be *TINOØØØØ_ØØØØ.
Close the ENABLE switch.
Enter the TINO command. Response should be *TINOØØØØ_Ø1ØØ.
6K Hardware Installation Guide
Bits 1-n, from left to right,
represent trigger inputs 1-n.
Bit #17 represents the Master
Trigger (“MASTER TRG”).
The 6K2 & 6K4 have 9 inputs,
the 6K6 & 6K8 have 17 inputs.
TINO response:
bit 6 = Enable (ENABLE) input,
all other bits are not used.
What’s Next?
By now, you should have completed the following tasks, as instructed earlier in this chapter:
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).
Next…
1. Mount the motors and/or couple the loads.
2. Tune any servo axes or axes using the ZETA drive.
Use the tuning facility in Motion Planner (see page 59).
And Finally…
After completing all necessary hardware installation tasks, you are ready to program your motion control
functions. Knowing your system’s motion control requirements, refer now to the 6K Series Programmer’s
Guide for descriptions of the 6K’s software features and instructions on how to implement them in your
application. Be sure to keep the 6K Series Command Reference at hand as a reference for the 6K Series
command descriptions.
For assistance with your programming effort, we recommend that you use the programming tools provided
in Motion Planner for Windows (found in your ship kit).
Chapter 1. Installation
35
CHAPTER TWO
Troubleshooting
Chapter 2. Troubleshooting
IN THIS CHAPTER
Troubleshooting basics................................................................................ 37
Solutions to common problems ................................................................... 38
Resolving RS-232 & RS-485 communication problems.............................. 42
Product return procedure............................................................................. 43
Troubleshooting Basics
When your system does not function properly (or as you expect it to operate), the first thing that you must
do is identify and isolate the problem. When you have accomplished this, you can effectively begin to
resolve the problem.
The first step is to isolate each system component and ensure that each component functions properly
when it is run independently. You may have to dismantle your system and put it back together piece by
piece to detect the problem. If you have additional units available, you may want to exchange them with
existing components in your system to help identify the source of the problem.
Determine if the problem is mechanical, electrical, or software-related. Can you repeat or re-create the
problem? Random events may appear to be related, but they are not necessarily contributing factors to
your problem. You may be experiencing more than one problem. You must isolate and solve one problem
at a time.
Log (document) all testing and problem isolation procedures. You may need to review and consult these
notes later. This will also prevent you from duplicating your testing efforts.
Once you isolate the problem, refer to the problem solutions contained in this chapter. If the problem
persists, contact your local technical support resource (see Technical Support below).
Technical Support
If you cannot solve your system problems using this documentation, contact your local Automation
Technology Center (ATC) or distributor for assistance.
If you need to talk to our in-house application engineers, please contact us at the numbers listed on the
inside cover of this manual.
Chapter 2. Troubleshooting
37
Solutions to Common Problems
Note: Some software-related causes are provided because it is sometimes difficult to identify a problem as either hardware or software
related.
Problem
Cause
Solution
Communication
1. Ethernet card not installed
1. Refer to the user instructions that came with your Ethernet card.
(Ethernet) errors.
correctly.
2. Ethernet or IP address conflict.
2. Refer to the configuration instructions in the 6K Programmer’s
Guide.
3. Connection to Ethernet port is
3. Check the connections according to page 28.
compromised or mis-wired.
Communication (serial)
1. Improper interface connections or
not operative, or receive
communication protocol.
1. Check the connections according to page 28.
garbled characters.
NOTE: Refer also to the
2. COM port disabled.
diagnostic procedures on
2.a. Enable serial communication with the E1 command.
2.b. If using RS-485, make sure the internal jumpers are set
page 42.
accordingly (see page 5). Make sure COM 2 port is enabled for
sending 6K language commands (execute the PORT2 and DRPCHKØ
commands).
3. In daisy chain, unit may not be set
3. Verify proper application of the ADDR command.
to proper address.
Direction is reversed.
1. Direction connections to the drive
(stepper axes only)
are reversed.
1. Switch DIR+ with DIR- connection to drive (see page 17).
2. Phase of step motor reversed
2. Switch A+ with A- connection from drive to motor.
(motor does not move in the
SOFTWARE ALTERNATIVE: If the motor (and the encoder if one is
used) is reversed, use the CMDDIR1 command to reverse the
commanded direction).
polarity of both the commanded direction and the polarity of the
encoder counts).
3. Phase of encoder reversed
(reported TPE direction is reversed).
3. Swap the A+ and A– connection at the ENCODER connector.
Direction is reversed,
1. Command output (CMD)
1. Software remedy: Issue the CMDDIR1 command to the affected
servo condition is stable.
connections and feedback device
axis. This reverses the polarity of the commanded direction and the
(servo axes only)
connections or mounting are
feedback direction so that servo stability is maintained.
reversed.
Hardware remedy: Switch CMD- with the CMD+ connection to drive
or valve (if your drive or valve does not accept differential outputs
this will not work). You will also have to change the feedback device
wiring or mounting so that it counts in same direction as the
commanded direction.
Direction is reversed,
1. Not tuned properly.
1. Refer to tuning instructions on page 59.
2. Phase of encoder reversed or
mounting of ANI input is such that it
2. Software remedy for encoder feedback only: For the affected axis,
issue ENCPOL1.
counts in the opposite direction as the
Hardware remedy: If using encoder feedback, swap the A+ and A-
servo condition is
unstable.
(servo axes only)
commanded direction.
connections to the 6K product. If using ANI feedback, change the
mounting so that the counting direction is reversed.
38
6K Hardware Installation Guide
Problem
Cause
Solution
Distance, velocity, and
1. Incorrect resolution setting.
accel are incorrect as
1.a. Stepper axes: Set the resolution on the to match the 6K
product’s DRES command setting (default DRES setting is 25,000
programmed.
steps/rev).
1.b. Match the 6K product's ERES command setting (default ERES
setting is 4,000 counts/rev) to match the post-quadrature resolution
of the encoder.
ERES values for Parker Hannifin encoders:
Stepper axes:
RE, -RC, -EC, & -E Series Encoders: ................. ERES4000
HJ Series Encoders: ........................................... ERES2048
Servo axes (SM, N or J Series Servo Motors):
SM/N/JxxxxD-xxxx: ............................................. ERES2000
SM/N/JxxxxE-xxxx: ............................................. ERES4000
Dynaserv (stepper and servo):
DR10xxB............................................................. ERES507904
DR1xxxE ............................................................. ERES614400
DR1xxxA ............................................................. ERES819200
DR5xxxB ............................................................. ERES278528
DR5xxxA ............................................................. ERES425894
DM10xxB ............................................................ ERES655360
DM1xxxA............................................................. ERES1024000
DM1004x............................................................. ERES655360
2. Pulse width too narrow.
2. Set pulse width to drive specifications using the PULSE command.
(stepper axes)
3. Wrong scaling values.
3. Check the scaling parameters (SCALE1, SCLA, SCLD, SCLV,
SCLMAS).
Erratic operation.
Feedback device
1. Electrical Noise.
1. Reduce electrical noise or move product away from noise source.
2. Improper shielding.
2. Shield for noise immunity.
3. Improper wiring.
3. Check wiring for opens, shorts, & mis-wired connections.
1. Improper wiring.
1. Check wiring.
2. Feedback device slipping.
2. Check and tighten feedback device coupling.
3. Encoder too hot.
3. Reduce encoder temperature with heatsink, thermal insulator, etc.
4. Electrical noise.
4a. Shield wiring.
(encoder or ANI) counts
missing.
4b. Use encoder with differential outputs.
5. Encoder frequency too high.
5. Peak encoder frequency must be below 12.0 MHz postquadrature. Peak frequency must account for velocity ripple.
Joystick mode:
1. Joystick Release input not
Motor does not move.
grounded.
1.a. If an input is not assigned the “Joystick Release” input function,
do so with the INFNCi-M command.
1.b. Ground the Joystick Release input.
2. Improper wiring.
Chapter 2. Troubleshooting
39
2. Check wiring for opens, shorts, and mis-wired connections.
Problem
Cause
LEDs:
All other LED states indicate hardware
Solution
conditions; refer to your product's
Installation Guide for details.
“POWER” LED is
1. No power.
1. Check 24 VDC power connection and restore power.
“POWER” LED is
1. General fault.
red.
2. ENABLE input not grounded.
1. Reset the controller by one of these methods:
•
Cycle power
•
Issue the RESET command
off.
2. Ground the ENABLE input.
An “AXIS” LED is on
(red).
1. Drive was commanded to shut
down (DRIVE0). If Disable Drive on
Kill mode is enabled (KDRIVE1), a kill
command or kill input will also
disabled the drive.
1. Re-enable the drive by sending a DRIVE1 command to the
affected axis.
2. (verify position error by checking to see if TAS/TASF bit #23 is set)
Check feedback device connection and mounting and re-enable
drive by sending DRIVE1 command to the affected axis.
2. Servo Axes: Maximum position
error (SMPER value) exceeded. Could
be caused by disconnected or mismounted feedback device.
Motion does not occur.
1. “AXIS” LED is red, or “POWER”
1. See LED troubleshooting as noted above.
LED is off or red.
2. End-of-travel limits are active.
2.a. Move load off of limits or disable limits by sending the LHØ
command to the affected axis.
2.b. Software limits: Set LSPOS to a value greater than LSNEG.
3. Step pulse too narrow for drive to
3. Set pulse width to drive specifications using the PULSE command.
recognize (stepper axes only).
4. Drive fault level incorrect.
5. Improper wiring.
4. Set drive fault level using the DRFLVL command.
5. Check drive fault & limit connections.
Stepper Axes: check step and direction connections.
Servo Axes: check command and shutdown connections.
Power-up Program does
6. ENABLE input is not grounded.
6. Ground the ENABLE input connection.
7. Load is jammed.
7. Remove power and clear jam.
8. No torque from motor.
8. See problem: Torque, loss of.
9. Max. position error (SMPER value)
9. Check to see if TAS/TASF bit #23 is set, and issue the DRIVE1
exceeded. (servo axes only)
command to the axis that exceeded the position error limit.
10. Drive has activated the drive fault
10. Check to see if TAS/TASF bit #14 is set, and check the drive fault
input.
level (DRFLVL).
1. ENABLE input is not grounded.
1. Ground the ENABLE input to GND and reset the product.
not execute.
(see page 9)
2. STARTP program is not defined.
2. Check the response to the STARTP command. If no program is
reported, define the STARTP program and reset (refer to the STARTP
command description).
40
6K Hardware Installation Guide
Problem
Cause
Solution
Runaway
1. Direction connections reversed.
1. Switch CMD– with the CMD+ connection to drive or valve.
(SERVOS ONLY)
(if encoder counts positive when
NOTE:
turned clockwise or extended).
Torque, loss of.
The CMD+/– Connection is not differential. Do not connect
CMD+ to ground on your drive.
1. Improper wiring.
1. Check wiring to the drive, as well as other system wiring.
2. No power to drive .
2. Check power to drive.
3. Drive failed.
3. Check drive status.
4. Drive faulted.
4. Check drive status.
5. Shutdown issued to drive.
5. Re-enable drive by sending the DRIVE1 command to the affected
axis.
Chapter 2. Troubleshooting
41
Resolving Serial Communication Problems
General Notes
Power up your computer or terminal BEFORE you power up the 6K.
Make sure the serial interface is connected as instructed on page 28. Shield the cable to earth ground at
one end only. The maximum RS-232 cable length is 50 feet (15.25 meters).
RS-232: Handshaking must be disabled. Most software packages allow you to do this. You can also
disable handshaking by jumpering some terminals on the computer’s/ terminal’s serial port: connect RTS
to CTS (usually pins 4 and 5) and connect DSR to DTR (usually pins 6 and 20).
RS-485: Make sure the internal DIP switches are configured as instructed on page 5.
Test the Interface
1.
2.
3.
Power up the computer or terminal and launch the terminal emulator.
Power up the 6K. A power-up message should be displayed, followed by a prompt (>).
Type “TREV” and press the ENTER key. (The TREV command reports the software revision.) The
screen should now look as follows (if not, see Problem/Remedy table below).
*PARKER HANNIFIN 6K MOTION CONTROLLER
>TREV
*TREV92-016740-01-5.0 6K
Problem
Remedy (based on the possible causes)
No Response
COM port not enabled for 6000 language communication.
If RS-232 connected to “RS-232” connector : issue “PORT1” and “DRPCHKØ” commands.
If RS-232 connected to “RS-232/485” connector: issue “PORT2” and “DRPCHKØ” commands.
If RS-485 connected to “RS-232/485” connector: issue “PORT2” and “DRPCHKØ” commands.
Serial communication may be disabled; enable with the E1 command.
RS-232: Echo may be disabled; enable with the ECHO1 command.
If you are using an RS-232 connection between the host computer and the master 6K connected to multiple
6Ks in an RS-485 multi-drop, make sure the master 6K has these settings executed in the order given (you
should place these settings in your power-up STARTP program):
PORT1
(select RS-232 port, COM1, for configuration)
ECHO3
(echo to both COM ports)
PORT2
(select RS-232/485 port, COM2, for configuration)
ECHO2
(echo to the other COM port, COM1)
Faulty wiring. See instructions on page 28. RS-485: verify internal DIP switch settings on page 5. Also check
for shorts or opens.
Is the cable or computer/terminal bad? Here’s a test:
1.
Disconnect the serial cable from the 6K end only.
2.
Connect the cable’s Rx and Tx lines together (this echoes the characters back to the host).
3.
Issue the TREV command. If nothing happens, the cable or computer/terminal may be faulty.
The controller may be executing a program. Issue the !K command or the <ctrl>K command to kill the
program.
Garbled Characters
Verify setup: 9600 baud (range is 9600-1200), 8 data bits, 1 stop bit, no parity; RS-232: Full duplex; RS485: Half duplex (verify internal DIP switch settings on page 5).
RS-485: Transmission line not properly terminated. See page 5 for internal DIP switch settings. See page
28for connections and calculating termination resistors (if not using the internal resistors via internal DIP
switches).
Faulty wiring. See instructions on page 28. RS-485: verify internal DIP switch settings on page 5. Also check
for shorts or opens.
Double Characters
Your terminal emulator is set to half-duplex; set it to full-duplex.
42
6K Hardware Installation Guide
Product Return Procedure
Step 1
Obtain the serial number and the model number of the defective unit, and secure a purchase order number
to cover repair costs in the event the unit is determined by the manufacturers to be out of warranty.
Step 2
Before you return the unit, have someone from your organization with a technical understanding of the 6K
system and its application include answers to the following questions:
•
•
•
•
What is the extent of the failure/reason for return?
How long did it operate?
Did any other items fail at the same time?
What was happening when the unit failed (e.g., installing the unit, cycling power, starting other
equipment, etc.)?
How was the product configured (in detail)?
Which, if any, cables were modified and how?
With what equipment is the unit interfaced?
What was the application?
What was the system environment (temperature, enclosure, spacing, contaminants, etc.)?
What upgrades, if any, are required (hardware, software, user guide)?
•
•
•
•
•
•
Step 3
Call for return authorization. Refer to the Technical Assistance phone numbers provided on the inside front
cover of this document. The support personnel will also provide shipping guidelines.
Chapter 2. Troubleshooting
43
Appendix A. VM25 Installation
The VM25 provides screw-terminal connections for the I/O on the 25-pin connectors, which are the “TRIGGERS/OUTPUTS” and
“LIMITS/HOME” connectors. The VM25 comes with a 2-foot cable that provides easy connection between the VM25 and the 6K’s 25-pin
connector. The VM25 is ordered separately (part number is “VM25”).
Appendix B. EVM32 Installation
Connect to the 6K’s “EXPANSION I/O”
connector (use the provided cable).
EVM32 Brick #1
st
(1 unit in serial chain)
EVM32 Brick #2
nd
(2 unit in serial chain)
2-foot (0.61 m) cable is
provided with the baseboard
(EVM32-BASE).
SIM boards are
ordered separately
from the baseboard.
Baseboard (EVM32-BASE).
g
EVM32 Description
The EVM32-Base and EVM32-ll is a family of I/O modules (or “bricks”) that is sold as accessories to the 6K Controllers. The EVM32
provides additional I/O for 6K controller. Up to eight DIN-rail mountable EVM32 bricks can be connected in a serial chain to the 6K. Each
EVM32 brick can hold from 1 to 4 of the I/O SIM boards in any combination (each SIM board provides 8 I/O points, for a total of 32 I/O points
per I/O brick):
•
Digital inputs
•
Digital outputs
•
Analog inputs
Order an EVM32 brick and up to four I/O SIM boards per brick (see table below):
Product (p/n)
Description
EVM32-Base
EVM32-ll
SIM8-IN-EVM32
SIM8-OUT-NPN
SIM8-OUT-PNP
SIM8-OUT-SSR
SIM8-OUT-HCR
SIM8-AN-IN
SIM8-AN-OUT
SIM8-IN
SIM8-OUT-EVM32
71-016949-02
71-016949-100
EVM32 baseboard, extrusion with built-in DIN rail mount (includes 2-foot cable).
EVM32 baseboard, extrusion with built-in DIN rail mount (includes 2-foot cable).
Digital input SIM board (8 inputs). Color code: RED
Digital output SIM board (8 outputs), sinking. Color code: BLUE
Digital output SIM board (8 outputs), sourcing. Color code: BLUE
Solid State Relay SIM board (8 outputs). Color code: BLUE
High Current Relay SIM board (8 outputs). Color code: BLUE
Analog (+/- 10V) input SIM board (8 inputs). Color code: GREEN
Analog (+/- 10V) output SIM board (8 outputs). Color code: BLACK
SIM board with 8 digital inputs. Color code: RED
SIM board with 8 digital outputs. Color code: BLUE
2-foot cable for connection to 6K or between I/O bricks (included with EVM32-BASE)
100-foot cable for connection to 6K or between I/O bricks
EVM32 Specifications
Parameter
Specification
Power (DC input)
V+ ....................................................................... User-supplied voltage that drives output circuitry.
V+ range ............................................................. 12-24 VDC. (If using SIM8-AN-OUT, you must use a 24 VDC supply.)
V+ current ........................................................... 1.8A @ 12 VDC or 0.9A @ 24 VDC; plus the sum of the load current on the PNP
outputs.
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
Dimensions
(see dimension drawing on page 48).
Digital Inputs (SIM8-IN-EVM32)Inputs are not optically isolated.
Switching levels .................................................. Low ≤ 1/3 V+ voltage; High ≥ 2/3 V+ voltage.
Voltage range ..................................................... Voltage range = 0-24 VDC. Voltage of input signals should not exceed voltage level
of V+. (Input circuitry of EVM32 has diodes to protect against voltages that exceed
V+, but performance may degrade.)
Sinking/Sourcing................................................. Sinking: Connect jumper for selected SIM board to position 1.
Sourcing: Connect jumper for selected SIM board to position 3 (factory default).
Impedance .......................................................... 6 KΩ, minimum. Requires input current (sinking or sourcing) of 0.111 mA per volt of
user-supplied voltage to V+ (e.g., 2.67 mA if V+ = 24V).
Active level.......................................................... Set by the 6K controller (INLVL command setting) — default is active low, but can be
set to active high.
Input frequency ................................................... 50 kHz (the maximum frequency is limited practically to 500 Hz by the 2 ms update
rate of the 6K controller).
Status.................................................................. Check with the TIO command. LED illuminates when at least [2/3 * V+] volts is
present on the input:
If sinking (jumper in position 1), the default LED state is off.
The LED illuminates when the voltage at the input is at least [2/3 * V+] volts.
If sourcing (jumper in position 3), the default LED state is on.
The LED goes off when the voltage at the input is below [1/3 * V+] volts.
Reed Relay Outputs (SIM8-OUT-RLY10) — OBSOLETE (replaced by SIM8-OUT-SSR and SIM8-OUT-HCR)
Current rating...................................................... Maximum of 10 Watts.
Switching voltage to 200 VDC or 200 VAC peak resistive
Switching current to 0.5A
Operate time, including bounce – typical............ 0.4 milliseconds
Release time – typical......................................... 0.1 milliseconds
Capacitance – typical.......................................... 0.7 pF
Status.................................................................. Check with the TIO command. LED is on when the relay contact is closed.
Digital Outputs (SIM8-OUT-NPN and SIM8-OUT-PNP)
Sinking/Sourcing................................................. SIM8-OUT-NPN provides 8 sinking outputs.
SIM8-OUT-PNP provides 8 sourcing outputs.
Voltage (sinking — SIM8-OUT-NPN) ................. Output voltage level is less than or equal to 0.4 VDC when sinking up to 50 mA.
(≤ 0.4 VDC for 50 mA).
Output voltage level is less than or equal to 2.5 VDC when sinking up to 300 mA.
(≤ 2.5 VDC for 300 mA).
Voltage (sourcing — SIM8-OUT-PNP) ............... Output voltage level may be up to 2 volts less than the user-supplied voltage V+
when sourcing up to 50 mA.
Output voltage level may be up to 2.5 volts less than the user-supplied voltage V+
when sourcing up to 300 mA.
Current................................................................ 300 mA maximum per output; continuous duty at 50°C ambient temperature.
NOTE: For PNP outputs, the actual current is subject to derating, based on load
current, duty cycle, and number of simultaneously active outputs (see graph below).
Improved performance may be achieved by lowering the ambient temperature and/or
staggering the physical order of the outputs that are simultaneously active (for details,
refer to page __).
46
6K Hardware Installation Guide
mA
Graph data is applicable to an EVM32 (cover installed) with PNP SIMs at 50 degrees C.
350
Operation above 300mA is not recommended.
300
Load Current (mA)
300
250
240
Limit to Number of
Simultaneously Active Outputs
Contiguous * Alternately Staggered *
up to 2
up to 10
up to 8
up to 16
up to 32
up to 32
200
150
100
180
* "Contiguous" means sequentially numbered I/O points on the EVM32
(for example: 1, 2, 3, 4, 5, 6, 7, 8, 9 ... ).
"Alternately Staggered" means alternate even or odd numbered I/O points
(for example: 1, 3, 5, 7, 9, 11, 13, 15 ... or 2, 4, 6, 8, 10, 12, 14 ... )
50
0
0
10
20
30
40
50
60
70
80
90
100
% Duty Cycle
Active level ......................................................... Set with the OUTLVL command. On power-up or reconnect, SIM8-OUT-NPN is set to
active low (OUTLVL0), and SIM8-OUT-PNP is set to active high (OUTLVL1).
Thermal shutdown .............................................. Thermal shutdown protects the drive devices from excessive heat. The NPN SIM has
2 drive devices (4 output channels per device); the PNP SIM has 4 drive devices (2
output channels per device). When a drive device reaches 165°C, it will shut down
(PNP: shut down two output channels; NPN: shut down four channels). The device
driver will again become active when its temperature cools to 150°C.
Short-circuit protection........................................ Digital outputs are short-circuit protected. Short-circuit protection only shuts down the
affected output channel. To recover, remove the fault and cycle power to the EVM32.
Status.................................................................. Check with the TIO command.
With default OUTLVL, LED is on when output is active (set to 1 with OUT command).
Solid State Relay (SIM8-OUT-SSR)
Voltage rating...................................................... Maximum of 130V AC/DC.
Current rating...................................................... Maximum of 100 mA.
Operate (On) time—Typical................................ 0.1 ms at 50 mA Load, 100V
Release time—Typical........................................ 0.11 ms at 50 mA Load, 100V
On-state resistance............................................. 24 Ohms (pulsed), 50 ma Load
10
Off-state resistance............................................. 10 Ohms
Capacitance........................................................ 6 pF at 50V
Status.................................................................. Check with the TIO command. LED is on when the relay is energized.
Technology ......................................................... Power MOSFET Photovoltaic Relay, Single-Pole, Normally Open, Bounce-Free
Operation.
High Current Relay (SIM8-OUT-HCR)
Operating voltage range ..................................... 0 to 60 VDC (or AC Peak).
Voltage rating...................................................... Maximum of 130V AC/DC.
Current rating...................................................... Maximum of 0.600 Amps.
Operate (On) time—Typical................................ 0.2 ms at 500 mA Load, 50V
Release time—Typical........................................ 0.5 ms at 500 mA Load, 50V
On-state resistance............................................. 500 mOhms
8
Off-state resistance............................................. 10 Ohms
Capacitance........................................................ 150 pF at 50V
Status.................................................................. Check with the TIO command. LED is on when the relay is energized.
Technology ......................................................... Power MOSFET Photovoltaic Relay, Single-Pole, Normally Open, Bounce-Free
Operation.
Analog Inputs (SIM8-AN-IN)
Input voltage range ............................................. 12-bit A/D converter, ±10 VDC; unipolar/bipolar range selectable ANIRNG command.
Unipolar: 0V to 10 VDC, or 0V to 5V;
Bipolar: -10 to +10V (factory default), or -5V to +5V.
Input current (worst case load) ........................... Unipolar: 720µA @ 0V to 10 VDC range; 360µA @ 0V to 5V range.
Bipolar: -1200µA @ -10V and 720µA @ +10V; -600µA @ -5V and 360µA @ +5V.
Input dynamic resistance .................................... Unipolar: 21KΩ; Bipolar: 16KΩ
Fault tolerance .................................................... ±16.5V
Sample rate ........................................................ Each input requires 2ms (e.g., 4 ms for 2 inputs, 16ms for 8 inputs); therefore, to
maximize performance, you should disable unused inputs with ANIEN command.
Status.................................................................. Check with the TIO command.
Analog Outputs (SIM8-AN-OUT)
Output voltage range .......................................... 10-bit DAC, ±10 VDC, 8 channels total.
Load.................................................................... 2KΩ resistive at 5 mA maximum.
Linearity error...................................................... 0.66% (typical), 1.3% maximum, over the ±10 VDC range.
Status.................................................................. Check with the TIO command or the TANO command.
Appendix B. EVM32 Installation
47
EVM32 Dimensions
3.991 [101.37]
6.330 [160.78]
4.110 [104.39]
2.244 [57.00]
2.189 [55.60]
48
6K Hardware Installation Guide
EVM32-ll Dimensions
Appendix B. EVM32 Installation
49
Installing the SIM Boards
Step 1: Remove the Cover
Caution — EVM32 SIM boards are static sensitive. Observe proper ESD handling precautions.
Remove power to the EVM32 baseboard before installing or removing the SIM boards.
Step 2: Install the SIM boards
3
2
SIM #2 (I/O points 9-16)
Snap
into
place
1
SIM #1 (I/O points 1-8)
SIM #3 (I/O points 17-24)
SIM #4 (I/O points 25-32)
Notch
Notch
SIM Slot
50
6K Hardware Installation Guide
Step 3: (SIM8-IN-EVM32 only) Set the jumpers to select sinking or sourcing
%&
#'#
%
(#&
%#
)*
%
!"#$
Step 4: Replace the cover and label the SIM locations
SIM Board
Color
Label
SIM8-IN-EVM32 (digital inputs)
Red
8 IN
SIM8-OUT-NPN (digital outputs, sinking)
Blue
8 OUT (NPN)
SIM8-OUT-PNP (digital outputs, sourcing)
Blue
8 OUT (PNP)
SIM8-OUT-RLY10 (reed relay outputs)
Blue
RELAY
SIM8-OUT-SSR (Solid State Relay)
Blue
RELAY
SIM8-OUT-HCR (High Current Relay)
Blue
RELAY
SIM8-AN-IN (analog inputs)
Green
ANALOG IN
SIM8-AN-OUT (analog outputs)
Black
ANALOG OUT
Appendix B. EVM32 Installation
51
Electrical Connections
Caution — Remove power to the 6K controller and the EMV32 baseboard before:
Installing or removing SIM boards on the EVM32 baseboard
Connecting or disconnecting the EVM32 baseboard to the 6K controller or to other EVM32 units.
Connecting inputs and outputs to the EVM32.
Connecting the 6K controller and EVM32 I/O bricks
If the EVM32 I/O brick is disconnected (or if it loses power), the 6K will perform a kill (all motion and
program execution on all tasks) and set error bit #18 (reported with the TER, TERF and ER commands).
The 6K will remember the brick configuration (volatile memory) in effect at the time the disconnection
occurred. When you reconnect the I/O brick, the controller checks to see if anything changed (SIM by SIM)
from the state when it was disconnected. If an existing SIM slot is changed (different SIM, vacant SIM slot,
or jumper setting), the controller will set the digital input SIMs and digital output SIMs to factory default
INEN and OUTLVL settings, respectively. If a new SIM is installed where there was none before, the new
SIM is auto-configured to factory defaults.
When the 6K powers up and detects a digital output SIM on a EVM32, it will set the active level (OUTLVL
command) according to the type of SIM. OUTLVL0, active low, is selected for NPN SIMs; OUTLVL1, active
high, is selected for PNP SIMs.
Connect to the 6K’s “EXPANSION I/O”
connector (use the provided cable).
EVM32 Brick #1
st
(1 unit in serial chain)
2-foot (0.61 m) cable is
provided with the baseboard
(EVM32-BASE).
To check the status of one or more EVM32 I/O bricks, use the TIO command.
52
6K Hardware Installation Guide
Jumpers
The EVM32-1l includes jumpers for terminating the DATA and ATTN lines on the last I/O brick in a chain.
The following equivalent diagram applies to JU5 and JU6.
24 VDC power input
Appendix B. EVM32 Installation
53
Reed Relay Outputs (SIM8-OUT-RLY10)
External Supply
(12 to 24VDC)
+
EVM32
­
V+
Electronic
Device
J1 GND
Iso
GND
Output
Connection
N.O.
LED
Return
(Use the GND pin for the
corresponding output pin.
When using the Relay SIM,
the GND terminals are not
internally connected together.)
54
6K Hardware Installation Guide
Input
Digital Inputs (SIM8-IN-EVM32)
External Supply
(12 to 24VDC)
Sinking
(connecting to a
sourcing output)
­
+
EVM32
Electronic
Device
Jumper
V+
R1
Iso
GND
Output
20. 0 K9
2
J1 GND
V1
3
Input
Connection
Iso
GND
1
18.2 K9
10. 0 K9
6.81 K9
12. 1 K9
+
V+
Iso
GND
Sourcing
30. 1 K9
1500 pF
Ground
Connection
Ground
Iso GND
External Supply
(12 to 24VDC)
(connecting to a
sinking output)
­
+
EVM32
Electronic
Device
Jumper
V+
The output should
be able to sink at
least 3mA of current.
3
20. 0 K9
2
J1 GND
1
Iso
GND
Input
Connection
Output
Iso
18.2 K9
Ground
10. 0 K9
6.81 K9
12. 1 K9
+
V+
Ground
1500 pF
Ground
Connection
Iso
GND
30. 1 K9
Iso GND
Interrelationships
Active Level *
Jumper Selection *
Switch
Voltage at Input
LED
IN/TIN/TIO Report
0
INLVL0 (active low)
Position 3 (sourcing)
Open
On
≥ 2/3 of V+
1
INLVL0 (active low)
Position 3 (sourcing)
Closed
< 1/3 of V+
Off
1
INLVL1 (active high)
Position 3 (sourcing)
Open
On
≥ 2/3 of V+
0
INLVL1 (active high)
Position 3 (sourcing)
Closed
< 1/3 of V+
Off
1
INLVL0 (active low)
Position 1 (sinking)
Open
< 1/3 of V+
Off
0
INLVL0 (active low)
Position 1 (sinking)
Closed
On
≥ 2/3 of V+
0
INLVL1 (active high)
Position 1 (sinking)
Open
< 1/3 of V+
Off
1
INLVL1 (active high)
Position 1 (sinking)
Closed
On
≥ 2/3 of V+
* Factory default: INLVL0 (active low) and jumper in position 3 (sourcing). Jumper location is illustrated on page 51.
Appendix B. EVM32 Installation
55
Digital Outputs (SIM8-OUT-NPN and SIM8-OUT-PNP)
External Supply
(12 to 24VDC)
SIM-OUT-NPN
(sinking outputs)
+
EVM32
­
Electronic
Device
V+
J1 GND
JU1
Iso
GND
Input
Output
Connection
Ground
Connection
OPTION: Use Jumper
JU1 to invoke internal
fly-back diodes (see
description below).
Iso
GND
Fly-Back Diodes: The SIM card is sent from the factory with jumper JU1 in the “no connect” position (fly-back diodes
not used). If you move the jumper to the left-hand position, eight fly-back diodes are invoked, one for each of the 8
output channels.
Caution: If the power supply voltage for the remote device (to which the outputs are connected) is greater than the
power supply voltage for the EVM32, do not use the fly-back diodes.
Factory default jumper
position is "no connect"
(no internal diodes used).
NPN
Move the jumper to the
left-hand position to use
internal fly-back diodes.
NPN
JU1
JU1
External Diodes: Use an external diode when driving inductive loads (you can do this only if you have not invoked the
fly-back diodes with jumper JU1). Connect the diode in parallel to the inductive load.
External Supply
(12 to 24VDC)
SIM8-OUT-PNP
(sourcing
outputs)
+
EVM32
­
V+
Electronic
Device
J1 GND
Iso
GND
Iso GND
56
6K Hardware Installation Guide
Output
Connection
Input
Ground
Connection
Ground
Solid State Relay Outputs (SIM8-OUT-SSR)
High Current Relay Outputs (SIM8-OUT-HCR)
Appendix B. EVM32 Installation
57
Analog Inputs (SIM8-AN-IN)
Analog Outputs (SIM8-AN-OUT)
External Supply
(24VDC only)
+
EVM32
­
V+
Electronic
Device
J1 GND
Iso
GND
Analog Output
Connection (+/- 10V)
LM324A
Ground
Connection
Iso
GND
58
6K Hardware Installation Guide
5mA max.
(2K9 load)
Appendix C. Servo Tuning
The tuning process is a
subset of the controller setup
process that Motion Planner
helps you with in the Editor.
To assure optimum performance you should tune your servo system. The goal of the tuning process is to
define the gain settings, servo performance, and feedback setup (see command list below) that you can
incorporate into your application program. (Typically, these commands are placed into a setup program).
Servo tuning should be performed as part of the application setup process, as described below.
To tune your servo system
To assure optimum performance you should tune your servo system. The goal of the tuning process is to
define the gain settings, servo performance, and feedback setup (see command list below) that you can
incorporate into your application program. (Typically, these commands are placed into a setup program).
Servo tuning should be performed as part of the application setup process, as described below
st
Position
1 Order Response
1. After you launch Motion Planner, you will see the Editor window. Click on the “Tuner” window tab to
bring the servo tuning utility to the front.
2. Click the “Start” button to send the pre-programmed step output to the drive. Notice that the graph
display draws the commanded and actual velocity profiles so that you can graphically tune your servo
system.
Commanded Position
(dashed line)
Actual Position
(solid line)
Time
Optimize the proportional (SGP) and velocity (SGV) values by iteratively changing gains and viewing
the results on the graph display. The object is to achieve a 1st order response (minimal overshoot and
close position tracking). The typical process is illustrated in the
flow diagram on the next page.
Type in gain settings here.
Repeat the tuning process for each axis.
Graphed commanded & actual position
profiles.
Click “Setup” to view the setup dialog, where you can
change the tuning profile and data capture parameters.
Click “Start” to initiate the tuning profile and capture
data to the graph display. This button changes to
“Abort” so that you can stop the profile in progress.
Click “Copy Gains” to copy the all gain settings for all
axes to your computer’s clipboard. Paste the gains into
your user program in the Editor window.
Basic Tuning Process
3. Repeat step 2 for each axis.
4. When you have determined which tuning gains are best for your application’s performance, insert the
gain commands into your setup program (see illustration below):
a. Click the “Copy Gains” to Clipboard button. This copies the gain commands to your computer’s
clipboard.
b. Click the “Editor” tab to bring the program editor to the front.
c. Place the cursor at the location in your program where you wish to insert the gain commands (see
note below).
d. Paste the gain commands at the location of the cursor. Use the <ctrl>V keystroke shortcut or use
the “Paste” command from the “Edit” pull-down menu.
NOTE: The tuning gains are specific to the feedback source selection in effect at the time the gain
commands are executed. The factory default feedback source (selected with the SFB command) is
encoder feedback. The illustration below demonstrates where to insert the gain commands relative to the
SFB command.
If your application requires you to switch between feedback sources for the same axis, then for each
feedback source you must select the source with the SFB command and then execute the tuning gain
commands relevant to the feedback source (an example is provided in the illustration below).
60
6K Hardware Installation Guide
These tuning gains are
specific to encoder
feedback (SFB1,1).
These tuning gains are
specific to analog input
feedback (SFB2,2).
Appendix C. Servo Tuning
61
Tuning-Related Commands
(See 6K Series Command Reference for details)
Tuning Gains
SGP .........Sets the proportional gain in the PIV&F servo algorithm.
SGI .........Sets the integral gain in the PIV&F servo algorithm.
SGV .........Sets the velocity gain in the PIV&F servo algorithm.
SGAF.......Sets the acceleration feedforward gain in the PIV&Fa
algorithm.
SGVF.......Sets the velocity feedforward gain in the PIV&Fv
algorithm.
SGILIM ..Sets a limit on the correctional control signal that results
from the integral gain action trying to compensate for a
position error that persists too long.
SGENB.....Enables a previously-saved set of PIV&F gains. A set of
gains (specific to the current feedback source selected
with the SFB command) is saved using the SGSET
command.
SGSET.....Saves the presently-defined set of PIV&F gains as a
gain set (specific to the current feedback source on each
axis). Up to 5 gain sets can be saved and enabled at any
point in a move profile, allowing different gains at
different points in the profile.
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6K Hardware Installation Guide
Feedback Setup
SFB .........Selects the servo feedback device (encoder or analog
input). To use analog input feedback, you must first use
the ANIFB command to configure the targeted analog
input to be used for feedback.
Important: Parameters for scaling, tuning gains, max.
position error (SMPER), and position offset (PSET) are
specific to the feedback device selected (with the SFB
command) at the time the parameters are entered (see
programming examples in Programmer’s Guide).
ERES.......Encoder resolution.
SMPER.....Sets the maximum allowable error between the
commanded position and the actual position as
measured by the feedback device. If the error exceeds
this limit, the controller activates the Shutdown output
and sets the DAC output to zero (plus any SOFFS
offset). If there is no offset, the motor will freewheel to a
stop. You can enable the ERROR command to
continually check for this error condition (ERROR.12-1),
and when it occurs to branch to a programmed
response defined in the ERRORP program.
Index
24 VDC power
6K 33
EVM32...................................................................... 55
2-wire RS-485
connections .............................................................. 31
DIP switch settings ..................................................... 5
4-wire RS-485
connections .............................................................. 30
DIP switch settings ..................................................... 5
accessories, orderable .................................................... 3
active level
inputs........................................................................ 26
outputs...................................................................... 27
address
Ethernet, IP .............................................................. 29
RS-232 ..................................................................... 29
RS-485 ..................................................................... 30
analog inputs on EVM32 ......................................... 47, 60
analog outputs on EVM32 ............................................. 60
Apex drive connections ................................................. 11
Aries drive connections ................................................. 12
step & direction......................................................... 18
axis LED........................................................................ 41
baud rate, RS-232 ......................................................... 29
BD-E drive connections................................................. 12
brackets, mounting option ............................................... 7
change summary............................................................ iv
communication interface ............................................... 28
Ethernet.................................................................... 29
RS-232 ..................................................................... 29
RS-485 ..................................................................... 30
serial communication problems ................................ 43
Compax3 drive connections
servo......................................................................... 13
step & direction......................................................... 19
connections ..................................................................... 8
analog inputs (EVM32) ............................................. 60
analog outputs (EVM32) ........................................... 60
communication ......................................................... 28
digital inputs (EVM32) .............................................. 57
digital outputs (EVM32) ............................................ 58
enable input ................................................................ 9
end-of-travel limits .................................................... 24
Ethernet.................................................................... 29
EVM32...................................................................... 54
high current relay outputs (EVM32) .......................... 59
home limits ............................................................... 24
installation test procedures ....................................... 34
onboard outputs.................................................. 25, 27
onboard triggers ................................................. 25, 26
reed relay outputs (EVM32)...................................... 56
RP240 ...................................................................... 32
RS-232 ..................................................................... 29
RS-485 ..................................................................... 30
servo (+/- 10V) drives ............................................... 10
solid state relay outputs (EVM32)............................. 59
step & direction drives .............................................. 17
contaminants and liquids ................................................. 7
crossover cable ............................................................. 29
daisy-chain, RS-232 ...................................................... 29
digital inputs on EVM32........................................... 47, 57
digital outputs on EVM32 ........................................ 47, 58
dimensions
6K 6
DIN rail mount..................................................................7
diode for outputs ............................................................27
drive connections
servo (+/- 10V) ..........................................................10
step & direction .........................................................17
drive fault input ........................................................11, 18
Dynaserv drive connections
servo .........................................................................13
step & direction .........................................................19
Dynaserv GE drive connections
servo .........................................................................14
step & direction .........................................................20
EAC drive connections ..................................................20
EDC drive connections ..................................................20
electrical connections ............................. See connections
electrical noise guidelines ................................................2
enable input .....................................................................9
encoder
resolution ..................................................................40
end-of-travel limit inputs, connections............................24
environmental specifications, 6K .....................................7
estop switch .....................................................................9
Ethernet connections .....................................................29
EVM32...........................................................................47
expansion I/O.................................................................47
general specifications ......................................................4
help................................................................................38
high current relay outputs on EVM32.............................59
home limit inputs, connections.......................................24
humidity ...........................................................................7
inputs
24 VDC power input to 6K.........................................33
analog inputs on EVM32 ...........................................60
digital inputs on EVM32 ............................................57
drive fault ............................................................11, 18
enable .........................................................................9
end-of-travel limits.....................................................24
expansion I/O............................................................47
home limit..................................................................24
installation test ..........................................................34
triggers ................................................................25, 26
VM25 connections ....................................................45
installation test procedures ............................................34
installing SIM boards, EVM32........................................52
internal schematics ................................. See connections
IP address .....................................................................29
jumpers, sinking & sourcing (EVM32) ............................53
LEDs..............................................................................41
Linearserv drive connections
servo .........................................................................14
step & direction .........................................................21
maximum position error, establishing limit .....................64
mounting..........................................................................7
multi-drop, RS-485.........................................................30
noise, electrical, guidelines ..............................................2
OEM670SD drive connections.......................................21
OEM670T & OEM675T drive connections.....................15
OEM750 drive connections............................................20
onboard programmable I/O connections........................25
optional accessories ........................................................3
output diode ............................................................ 25, 27
outputs
analog outputs on EVM32 ........................................ 60
digital outputs on EVM32.......................................... 58
high current relay outputs on EVM32 ....................... 59
onboard .............................................................. 25, 27
reed relay outputs on EVM32 ................................... 56
solid state relay outputs on EVM32 .......................... 59
VM25 connections .................................................... 45
part numbers ................................................................... 3
PDS drive connections .................................................. 20
performance specifications.............................................. 4
PKH130M drive connections ......................................... 21
position
error, max. allowable ................................................ 64
power input
6K 33
EVM32 ..................................................................... 55
power LED .................................................................... 41
precautions................................................ 2, 5, 34, 52, 54
product return procedure............................................... 44
recommended installation process .................................. 2
reed relay outputs on EVM32........................................ 56
related publications ..........................................................ii
relay outputs on EVM32 ................................................ 56
return procedure............................................................ 44
RP240 connections ....................................................... 32
RS-232 connections ...................................................... 29
RS-485
connections .............................................................. 30
DIP switches, accessing & setting .............................. 5
S drive connections....................................................... 20
safety stop switch (enable input) ..................................... 9
schematics, internal ................................See connections
64
6K Hardware Installation Guide
screw-terminal adapter ..................................................45
servo tuning ...................................................................61
ship kit .............................................................................3
EVM32 ......................................................................47
SIM boards, EVM32 ......................................................47
SIM8-AN-IN ...................................................................47
SIM8-IN .........................................................................47
SIM8-OUT-EVM32 ........................................................47
sizing your power supply, 6K .........................................33
solid state relay outputs on EVM32 ...............................59
solutions to common problems ......................................39
specifications
environmental (6K)......................................................7
EVM32 ......................................................................48
general........................................................................4
staight-through cable .....................................................29
status LEDs ...................................................................41
SV drive connections .....................................................15
technical support ...........................................................38
temperature specification.................................................7
testing I/O installation ....................................................34
TQ10 drive connections.................................................16
trigger input connections..........................................25, 26
troubleshooting ..............................................................37
methods ....................................................................38
resolving serial communication problems .................43
solutions to common problems .................................39
tuning, servo ..................................................................61
Vix drive connections
servo .........................................................................16
step & direction .........................................................22
VM25 25-pin screw-terminal adapter .............................45
Zeta drive connections...................................................20
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