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OEM6250 Servo Controller
Installation Guide
Compumotor Division
Parker Hannifin Corporation
p/n 88-016524-01B March 1998
Compumotor
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User Information ! ! WARNING 6000 Series products are used to control electrical and mechanical components of motion control systems. You should test your motion system for safety under all potential conditions. Failure to do so can result in damage to equipment and/or serious injury to personnel. 6000 Series products and the information in this user guide are the proprietary property of Parker Hannifin Corporation or its licensers, and may not be copied, disclosed, or used for any purpose
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Change Summary OEM6250 Installation Guide Rev B March 1998 The following is a summary of the primary technical changes to this document. This book, p/n 88-016524-01B, supersedes 88-016524-01A. Topic Description Error Correction: Revision A incorrectly stated that the drive fault input (DFT pin on the DRIVE connectors) DFT Input Circuit shared the same circuit design as the limit inputs and trigger inputs. DFT is not controlled by the AUX-P pullup terminal and is not affected by the R45 resistor.
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ABO U T TH IS GU ID E Chapter 1. Installation Chapter 2. Troubleshooting What You Should Have (ship kit) 2 ........................................................... Troubleshooting Basics......................................................................... 28 Before You Begin 2 ..................................................................................... Reducing Electrical Noise 28 ........................................................... Recommended Installation Process 2 .....
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C HAP T E R ONE Installation 1 IN THIS CHAPTER • Product ship kit list • Things to consider before you install the OEM6250 • General specifications table • Mounting the OEM6250 • Connecting all electrical components (includes specifications) • Testing the installation • Tuning the OEM6250 (refer to Servo Tuner User Guide or to Appendix A) • Preparing for what to do next Appendix B provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250’s emissions and to
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What You Should Have (ship kit) Part Name Part Number One of the following line items: If an item is missing, OEM6250 standard product (with ship kit) .............................. OEM6250 call the factory (see ¬ OEM6250 product with ANI input board (with ship kit)........... OEM6250-ANI The ANI input board phone numbers on provides two ±10V, inside front cover). 14-bit analog inputs. Ship kit: This manual (OEM6250 Installation Guide) * ............. 88-016524-01 To order the ANI input Motion
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General Specifications Parameter Specification Power DC input.................................................................... 5VDC ±5%, 4A minimum (current requirements depend on the type and amount of I/O used – see page 20). Status LEDs/fault detection...................................... Refer to Diagnostic LEDs on page 28 Environmental Operating Temperature .......................................... 32 to 122°F (0 to 50°C) Storage Temperature...........................................
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Mounting the OEM6250 NOTE: The drawing below illustrates the dimensions of the OEM6250 printed circuit board. The board is shipped from the factory attached to sheet metal which allows either flat mounting or side mounting of the OEM6250. This board will fit in a 6U rack (if you remove the PCB from the sheet metal). Max. 10.01 Component (254.25) Height 9.67 1.48 (245.62) (37.59) 11.00 (279.40) 10.10 (256.54) 9.19 6 5 4 3 2 1 (233.43) 0.70 Provision for #10 1.00 8.00 0.50 (17.78) Mounting Scre
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AGND Terminals Electrical Connections Appendix B (page 47) provides guidelines on how to install the OEM6250 in a manner most likely to minimize the OEM6250’s emissions and to maximize the OEM6250’s immunity to externally generated electromagnetic interference. Grounding System ANALOG GROUND SHLD Terminal 1 9 SHLD +5V COM A+ SHTNC A- SHTNO B+ DFT B- AGND Z+ RSVD Z- GND Terminal CMD- GND CMD+ SHLD 9 1 SHLD Terminal DRIVE 1 ENCODER 1 DRIVE 2 ENCODER 2 SHLD Terminal 1 9 SHLD +5V COM A+ SHTNC A- SHT
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1234 Serial Communication RS-232C Connections RS-232C Daisy-Chain Connections * Unit 0 Unit 1 Unit 2 Rx Rx Rx Tx Tx Tx 9 1 GND GND GND SHLD SHLD SHLD Tx AUX LIMITS Rx 1 9 Rx Tx GND Tx Rx GND GND Daisy Chain to a Computer or Terminal SHLD 7 Unit 0 Unit 1 Unit 2 1 Serial Port Connection 1 Rx Rx Rx Tx Tx Tx 9-Pin COM Port: 25-Pin COM Port: RP240 GND GND GND 5 Rx Pin 2 (Rx) Pin 2 (Tx) SHLD SHLD SHLD Tx Rx Pin 3 (Tx) Pin 3 (Rx) GND Tx Pin 5 (GND) Pin 7 (GND) GND Stand-Alone Daisy Chain 1 9 49 * Be su
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Motor Drivers WARNING REMOVE DC POWER FIRST before connecting or disconnecting the drive. CONNECTIONS & INTERNAL SCHEMATICS Drive Motor Maximum recommended cable length is 15 feet (4.56 m). Use 22 AWG wire. Internal Schematics Chassis Ground Solid State Relay DRIVE Connector Closed if DRIVE¯ Open if DRIVE1 SHLD OEM6250 COM SHTNC Open if DRIVE¯ Closed if DRIVE1 SHTNO DFT 47 KW DRIVE 1 AGND Analog Ground DRIVE 2 74HCxx (AGND) RSVD 6.8 KW CMD– CMD+ +5VDC AUX AGND AGND - + Comman
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PIN OUTS & SPECIFICATIONS (9-pin DRIVE Connector) Name In/Out Description and Specifications SHLD — Shield—Internally connected to chassis (earth) ground. COM — Signal common for shutdown. Not connected to any ground or other COM. SHTNC OUT Shutdown relay output to drives that require a closed contact to disable the drive. The shutdown relay is active (disabling the drive) when no power is applied to the OEM6250. When the OEM6250 is powered up, the shutdown relay remains active until you issue
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BD-E Drive BD-E Drive OEM6250 User I/O Connector DRIVE 1 ENCODER 1 15 8 SHLD +5V BD-E Drive OEM6250 COM A+ V2 (pin 1) « CMD– SHTNC AÐ SHTNO B+ V1 (pin 2) « CMD+ DFT BÐ GND (pin 4) « GND AGND Z+ RST (pin 5) « COM RSVD ZÐ 9 +15V (pin 6) « SHTNO CMDÐ GND 1 CMD+ SHLD FT (pin 9) « DFT AOP (pin 10) « A– AOP (pin 11) « A+ BOP (pin 12) « B+ BOP (pin 13) « B– ZOP (pin 14) « Z+ NOTE: These connections will work only if ZOP (pin 15) « Z– BD-E jumper LK2 is set to position B
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OEM670 Drive OEM670 OEM6250 Drive 1 14 OEM670 Drive OEM6250 DRIVE 1 CMD+ (pin 1) « CMD+ SHLD CMD– (pin 2) « CMD– COM FAULT (pin 9) « DFT SHTNC ENABLE (pin 10) « SHTNO SHTNO DFT GND (pin 11) « COM AGND GND (pin 16) « AGND RSVD CMDÐ 25 13 CMD+ SV Drive SV Drive OEM6250 SV Drive OEM6250 X8 SOLL1+ (X8 pin 01) « CMD+ DRIVE 1 ENCODER 1 1 SOLL1– (X8 pin 02) « CMD– SHLD SHLD N (X13 pin 02) « Z+ COM GND X13 SHTNC ZÐ B (X13 pin 03) « B+ 1 9 SHTNO Z+ A (X13 pin 04) « A– * DFT BÐ GND (X13 pin 05) « G
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ANI Analog Input (OEM6250-ANI or OPT-OEM6250-A product only) ±10V Ana og Input Source Signal Source + Ground – Internal Schematics 6 5 4 3 2 1 +15V Analog Input #1 N.C. Analog Input #2 (same as #1) N.C. LF412 Analog Ground 150 KW N.C. -15V Analog Ground Analog ANI Option Ground Board ¥ Each input is a ±10V analog input with a 14-bit analog-to-digital converter. ¥ The ANI input is sampled at the servo sampling rate (see table for SSFR command). ¥ Voltage value reported with the TANI and A
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End-of-Travel and Home Limit Inputs NOTES • CAUTION: As shipped from the factory, the limit inputs are pulled up to +5V through the R45 resistor. To use a voltage reference other than +5V, first remove R45 and then use either the on-board +5V terminal or an external power supply to power the AUX-P pull-up resistor (using both will damage the OEM6250). • Motion will not occur on an axis until you do one of the following: - Install end-of-travel (POS & NEG) limit switches. - Disable the limits wit
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Encoder CONNECTIONS & INTERNAL SCHEMATICS Internal Schematic ENCODER Connector +1.8VDC +5VDC Max. Cable Length is 100 feet. Use 22 AWG wire. +5VDC Red 22 KW +5V A Channel + Brown A+ A Channel – Brown/White A– B Channel + Green B+ 22 KW B Channel – Green/White B– Same Circuit Z Channel + Orange +5VDC as A Channel Z+ Z Channel – Orange/White Z- Ground Black GND Digital Ground Shield Shield Incremental SHLD Chassis Ground Encoder Wire colors for Compumotor E Series encoders ENCODER Connector +5VDC
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Joystick & Analog Inputs CONNECTIONS Joystick Joystick potentiometers are 5KW with 1KW Resistors * 60° of usable travel adjusted to span X Axis 0W to 1KW. Y Axis 5KW The 1KW resistors for velocity select, * 5KW axes select, joystick trigger, & joystick auxiliary are for noise suppression only. N.C. Momentary +5VDC Joystick Release 23 Analog Channel 1 1 Analog Channel 2 2 Velocity Select J Velocity Select 16 O Axes Select Y 15 Axes Select S Joystick Release T 17 N.O. Momentary I Joystick Trigger
