Parker 6K Series Hardware Installation Manual
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Parker 6K Series Hardware Installation Manual

Parker 6K Series Hardware Installation Manual

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  • Page 1 www.comoso.com...
  • Page 2 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.

  • Page 3: Table Of Contents

    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...

  • Page 4: About This Guide

    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...

  • Page 5: Important User Information

    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.

  • Page 6: Change Summary

    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...

  • Page 7: Chapter 1. Installation

    C H A P T E R O N E 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 www.comoso.com...

  • Page 8: Before You Begin

    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).

  • Page 9: 6K Series Controller Ship Kit

    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) ................

  • Page 10: 6K Series General Specifications

    6K Series General Specifications Parameter Specification Power (DC input)........... 24 VDC ±10%, 2A max. (current requirements depend on type/amount of I/O used) Environmental Operating temperature........32 to 122°F (0 to 50°C) Storage temperature........... -22 to 185°F (-30 to 85°C) Humidity.............. 0 to 95% non-condensing Performance Command output ..........

  • Page 11: Rs-485 Setup (Optional)

    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 —...

  • Page 12: 6K Series Dimensions & Mounting

    6K Series Dimensions & Mounting Dimensions 6K2 & 6K4 6K6 & 6K8 6K Hardware Installation Guide www.comoso.com...

  • Page 13: Mounting

    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.

  • Page 14: 6K Series Electrical Connections

    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.

  • Page 15: Enable Input

    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.

  • Page 16: Drives: Servo (±10V) Drives

    Drives: Servo (±10V) Drives (“DRIVES” connectors) Internal Schematics Drive Cable: Maximum recommended length is 15 feet (4.56 m). Use 22 AWG wire. 6K Hardware Installation Guide www.comoso.com...
  • Page 17 Pin Outs & Specifications — Servo Drives Only (15-Pin “Drive” Connectors) Pin * Name In/Out 71-017003-10 Description Cable Colors *** Command signal output to the drive. ±10VDC analog output. 12-bit DAC. Load should be >2kΩ CMD + Black impedance. 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.
  • Page 18 CONNECTIONS TO THE ARIES SERIES DRIVE Aries Drive Connections 6K Connections Signal Name Connector Signal Name Connector ↔ GND Drive I/O Encoder ↔ A+ Enc out A+ Drive I/O Encoder ↔ A- Enc out A- Drive I/O Encoder ↔ B+ Enc out B+ Drive I/O Encoder...
  • Page 19 CONNECTIONS TO THE COMPAX3 DRIVE Compax3 Drive Connections 6K Connections Signal Name Connector Signal Name Connector ↔ CMD+ Analog input + Drive ↔ CMD- Analog input - Drive ↔ DFT Output 0 Drive Jumper pins 6 & 8. ↔ GND GND 24V Drive ↔...
  • Page 20 CONNECTIONS TO THE DYNASERV GE DRIVE Dynaserv GE Drive Connections 6K Connections Signal Name Connector Signal Name Connector ACMD IN+ ↔ CMD+ Drive ↔ ACMD IN- CMD- Drive ↔ DRV RDY OUT CN4 Drive ↔ COMPN1 Drive Jumper pins 13 & 14. ↔...
  • Page 21 CONNECTIONS TO THE OEM670T & OEM675T DRIVE OEM67x Drive Connections 6K Connections Signal Name Signal Name Connector CMD + ↔ CMD + Drive CMD – ↔ CMD – Drive FAULT ↔ DFT Drive ENABLE ↔ SHTNO Drive ↔ COM Drive ↔...
  • Page 22 CONNECTIONS TO THE TQ10 DRIVE TQ Drive Connections 6K Connections Signal Name Signal Name Connector Pin ENABLE IN ↔ SHTNO Drive ENABLE GND ↔ Drive FAULT OUT + ↔ Drive FAULT OUT – ↔ AGND Drive COMMAND + ↔ CMD + Drive Jumper pins ↔...

  • Page 23: Drives: Step & Direction Drives

    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 www.comoso.com...
  • Page 24 PIN OUTS & SPECIFICATIONS — STEPPER DRIVES ONLY (15-pin “DRIVE” connectors) Pin * Name In/Out Description Step + 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. Direction + Differential output.
  • Page 25 CONNECTIONS TO THE COMPAX3 DRIVE Compax3 Drive Connections 6K Connections Signal Name Connector Signal Name Connector ↔ STEP+ Step+ (5V) Drive ↔ STEP- Step- (5V) Drive Dir + (5V) DIRECTION- Drive ↔ DIRECTION+ Drive Dir - (5V) ↔ DFT Output 0 Drive Jumper pins 6 &...
  • Page 26 CONNECTIONS TO THE DYNASERV GE DRIVE Dynaserv GE Drive Connections 6K Connections Signal Name Connector Signal Name Connector ACMD IN+ ↔ CMD+ Drive ↔ ACMD IN- CMD- Drive ↔ DRV RDY OUT CN4 Drive ↔ COMPN1 Drive Jumper pins 13 & 14. ↔...
  • Page 27 CONNECTIONS TO THE LINEARSERV DRIVE Linearserv Drive Connections 6K Connections Signal Name Connector Signal Name Connector Step + ↔ Step + Drive Step – ↔ Step – Drive Direction + ↔ Direction + Drive Direction – ↔ Direction – Drive Servo On –...
  • Page 28 CONNECTIONS TO THE VIX DRIVE Vix Drive Connections 6K Connections Signal Name Connector Signal Name Connector ↔ Drive ↔ ENABLE Drive ↔ ENC. A+ IN SHTNO Drive ↔ ENC. A- IN STEP+ Drive ↔ ENC. B- IN STEP- Drive ↔ ENC.B+ IN DIRECTION- Drive FAULT...

  • Page 29: Encoders

    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.

  • Page 30: Limit Inputs

    “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.

  • Page 31: Onboard Programmable Inputs And Outputs

    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.
  • Page 32 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.
  • Page 33 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”...

  • Page 34: Communication Interface

    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.
  • Page 35 RS-232 Communication RS-232 Connector Pin Outs for RS-232 Communication 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.
  • Page 36 RS-485 Communication RS-232 Connector Pin Outs for RS-485 Communication 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). •...
  • Page 37 2-Wire Connections (plus ground): Chapter 1. Installation www.comoso.com...

  • Page 38: Rp240 Remote Operator Panel

    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”...

  • Page 39: 24 Vdc Power Input

    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 ≤...

  • Page 40: Testing The Installation

    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 If you haven’t already done so, made the necessary communication connections (see page 28). Install Motion Planner (CD is provided in your ship).

  • Page 41: What's Next

    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.

  • Page 42: Chapter 2. Troubleshooting

    C H A P T E R T W O 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 www.comoso.com...

  • Page 43: Troubleshooting Basics

    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.

  • Page 44: Solutions To Common Problems

    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.
  • Page 45 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: ..........
  • Page 46 Problem Cause Solution LEDs: All other LED states indicate hardware 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. off. “POWER” LED is 1. General fault. 1.
  • Page 47 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: The CMD+/– Connection is not differential. Do not connect turned clockwise or extended). CMD+ to ground on your drive.

  • Page 48: Resolving Serial Communication Problems

    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...

  • Page 49: Product Return Procedure

    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:...

  • Page 50: Appendix A. Vm25 Installation

    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.

  • Page 51: Appendix B. Evm32 Installation

    Appendix B. EVM32 Installation Connect to the 6K’s “EXPANSION I/O” connector (use the provided cable). EVM32 Brick #1 unit in serial chain) EVM32 Brick #2 unit in serial chain) 2-foot (0.61 m) cable is provided with the baseboard (EVM32-BASE). SIM boards are ordered separately Baseboard (EVM32-BASE).

  • Page 52: Evm32 Specifications

    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.
  • Page 53 Graph data is applicable to an EVM32 (cover installed) with PNP SIMs at 50 degrees C. Operation above 300mA is not recommended. 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...

  • Page 54: Evm32 Dimensions

    EVM32 Dimensions 3.991 [101.37] .330 [1 0.78] 4.110 [104.39] 2.244 [57.00] +V +V 2.189 [55. 0] GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND GND +V 9 20 2 22 23 24 25 26 27 28 29 30 3 32 6K Hardware Installation Guide...

  • Page 55: Evm32-Ll Dimensions

    EVM32-ll Dimensions Appendix B. EVM32 Installation www.comoso.com...

  • Page 56: Installing The Sim Boards

    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 SIM #1 (I/O points 1-8) SIM #2 (I/O points 9-16) Snap...
  • Page 57 Step 3: (SIM8-IN-EVM32 only) Set the jumpers to select sinking or sourcing SIM #4 SIM #3 SIM #2 SIM #1 The jumper setting affects only the digital input SIM NOTE: (SIM8-IN-EVM32). (25-32) (17-24) (9-16) (1-8) osition 3 osition 1 selects sourcing selects sinking (factory default setting) Step 4: Replace the cover and label the SIM locations...

  • Page 58: Electrical Connections

    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).

  • Page 59: Jumpers

    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 www.comoso.com...

  • Page 60: Reed Relay Outputs (Sim8-Out-Rly10)

    Reed Relay Outputs (SIM8-OUT-RLY10) External Supply (12 to 24VDC) ­ EVM32 Electronic Device J1 GND Output Input Connection N.O. Return (Use the GND pin for the corresponding output pin. When using the Relay SIM, the GND terminals are not internally connected together.) 6K Hardware Installation Guide www.comoso.com...

  • Page 61: Digital Inputs (Sim8-In-Evm32)

    Digital Inputs (SIM8-IN-EVM32) External Supply Sinking (12 to 24VDC) (connecting to a ­ sourcing output) Electronic EVM32 Device Jumper 0 K9 J1 GND 18.2 K9 0 K9 6.81 K9 Input Output Connection 1 K9 Ground Ground Connection 1 K9 Iso GND Sourcing External Supply (12 to 24VDC)

  • Page 62: Digital Outputs (Sim8-Out-Npn And Sim8-Out-Pnp)

    Digital Outputs (SIM8-OUT-NPN and SIM8-OUT-PNP) SIM-OUT-NPN External Supply (12 to 24VDC) (sinking outputs) ­ EVM32 Electronic Device J1 GND Input Output Connection Ground Connection OPTION: Use Jumper JU1 to invoke internal fly-back diodes (see description below). Fly-Back Diodes: The SIM card is sent from the factory with jumper JU1 in the “no connect” position (fly-back diodes not used).

  • Page 63: Solid State Relay Outputs (Sim8-Out-Ssr)

    Solid State Relay Outputs (SIM8-OUT-SSR) High Current Relay Outputs (SIM8-OUT-HCR) Appendix B. EVM32 Installation www.comoso.com...

  • Page 64: Analog Inputs (Sim8-An-In)

    Analog Inputs (SIM8-AN-IN) Analog Outputs (SIM8-AN-OUT) External Supply (24VDC only) ­ EVM32 Electronic Device J1 GND Analog Output 5mA max. Connection (+/- 10V) (2K9 load) LM324A Ground Connection 6K Hardware Installation Guide www.comoso.com...

  • Page 65: Appendix C. Servo Tuning

    Appendix C. Servo Tuning The tuning process is a To assure optimum performance you should tune your servo system. The goal of the tuning process is to subset of the controller setup define the gain settings, servo performance, and feedback setup (see command list below) that you can process that Motion Planner incorporate into your application program.
  • Page 66 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.
  • Page 67 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 www.comoso.com...

  • Page 68: Tuning-Related Commands

    Tuning-Related Commands (See 6K Series Command Reference for details) Tuning Gains Feedback Setup SGP ..Sets the proportional gain in the PIV&F servo algorithm. SFB ..Selects the servo feedback device (encoder or analog input). To use analog input feedback, you must first use SGI ..Sets the integral gain in the PIV&F servo algorithm.
  • Page 69 Index 24 VDC power dimensions 6K 33 6K 6 EVM32..............55 DIN rail mount..............7 2-wire RS-485 diode for outputs ............27 connections .............. 31 drive connections DIP switch settings ............. 5 servo (+/- 10V) ............10 4-wire RS-485 step & direction ............17 connections ..............
  • Page 70 output diode ............25, 27 screw-terminal adapter ..........45 outputs servo tuning ..............61 analog outputs on EVM32 ........60 ship kit ................3 digital outputs on EVM32.......... 58 EVM32 ..............47 high current relay outputs on EVM32 ....... 59 SIM boards, EVM32 ............47 onboard ..............

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