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Troubleshooting
Related Manuals for Parker Compumotor AT6200
Summary of Contents for Parker Compumotor AT6200
- Page 2 X I L + 5 V T - P I N - X - P P - C + 5 V Compumotor Division Parker Hannifin Corporation p/n 88-014541-02A October 1997 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
- Page 3 Since Parker Hannifin constantly strives to improve all of its products, we reserve the right to change this user guide and software and hardware mentioned therein at any time without notice.
- Page 4 Change Summary AT6n00 Installation Guide 88-014541-02 REV. A The following is a summary of the primary technical changes to this installation guide for the AT6200 and AT6400 products, collectively referred to as the “AT6n00” products. The part number of this guide changed to reflect the changes required to make the AT6n00 CE-compatible.
- Page 5 Artisan Scientific - Quality Instrumentation ... Guaranteed | (888) 88-SOURCE | www.artisan-scientific.com...
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Page 6: Table Of Contents
• Basic electronics concepts (such as voltage, switches, current, etc.) • Basic motion control concepts (such as torque, velocity, distance and force) Related Publications • 6000 Series Software Reference, Parker Hannifin Corporation, Compumotor Division; part number 88-012966-01 • 6000 Series Programmer’s Guide, Parker Hannifin Corporation, Compumotor Division;... - Page 7 AT6n00 Indexer: CE Compliance Product Type: AT6200-120/240, AT6400-AUX1-120V, and AT6400-AUX1-240V The above products have been demonstrated to be CE compliant, per the following directives, when installed according to the instructions in Appendix A of this Installation Guide. • 89/336/EEC Electromagnetic Compatibility Directive (EMC) •...
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Page 8: Chapter 1. Installation
C H A P T E R O N E Installation IN THIS CHAPTER • Product ship kit list • General specifications table • PC card installation procedures • Mounting procedures • Electrical connection procedures (including specifications) • Installation test procedures •... -
Page 9: What You Should Have (Ship Kit)
What You Should Have (ship kit) Part Name Part Number One of the following line items: If an item is missing, AT6200 120/240VAC version (with ship kit)....AT6200-120/240 call the factory (see AT6200 DC version (with ship kit)........AT6200-AUX1-DC phone numbers on AT6400 120VAC version (with ship kit)...... -
Page 10: General Specifications
General Specifications P a r a m e t e r S p e c i f i c a t i o n Power AT6n00 PC Card............5VDC @ 1.8A from the PC-AT bus AT6200 AC AUX Board (AC or DC input) ..... 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or connect an external power source (5VDC ±5% @ 1.6A) to a +5V terminal on the connector AUXILIARY... -
Page 11: Configuration/Customization-Optional Dip Switch Settings
Configuration/Customization—Optional DIP Switch Settings Default Settings NOTE AT6n00 PC Card Address = 300 Hex (768 Decimal) If you change the Address or Transfer Mode = 16-Bit Interrupt settings and you intend Interrupts Selected = None to use Motion Architect, be sure to configure the same settings in Motion Architect's Terminal or Panel Modules. -
Page 12: Pc Card Installation
PC Card Installation St ep 1 Turn off the power to the computer. St ep 2 Remove the computer's cover to access the internal slots where peripheral cards are added. St ep 3 Select an expansion slot in your PC and remove the sheet metal bracket that covers the associated external access slot. -
Page 13: Mounting
Mounting This mounting procedure will not ensure CE compliance. Refer to Appendix A for specific CE installation instructions. To mount the AUX board, you must first attach the mounting brackets. The mounting brackets and 6-32 (0.25-inch) mounting screws are provided in the ship kit. Do not use screws longer than 0.25 inches;... -
Page 14: System Electrical Connections
System Electrical Connections Appendix A provides guidelines on how to install the AT6n00 to comply with CE requirements. This will minimize the AT6n00's emissions and maximize the AT6n00's immunity to externally generated electromagnetic interference. Grounding System AC Connector Ground Pin Mounting Slot GND Pins and Terminals... -
Page 15: Verify Factory-Wired Connections
Verify Factory-Wired Connections +5V connected to OUT-P and IN-P. AUXILIARY Provides +5V power to the pull-up resistors for the general-purpose programmable outputs (OUT-P) & inputs (IN-P) on the 50-pin headers. +5V connected to AUX-P. OUT-P Provides +5V power to the pull-up resistor for the IN-P POS/NEG, HOM, TRG, and P-CUT inputs. -
Page 16: Motor Drivers
Motor Drivers PIN OUTS & SPECIFICATIONS (15-pin DRIVE Connector) 15 D Cable (71-010432-10) Pin # Color/25 D Pin # In/Out Name Description Red/1 Step (+) Differential output. Step (pulse) output to the drive. Step + signal is active high. Signal levels: Low ≤ 1.0VDC @ -30mA, High ≥ 3.5VDC @ +30mA. Green/2 Direction (+) Differential output. - Page 17 Motor Driver Connections (cont'd) Connecting a ZETA, S, OEM650 or PDS Drive Connecting an OEM670SD Drive AT6n00 ZETA, S, OEM650 or PDS Drive AT6n00 (DRIVE Connector) (25-pin Connector) OEM670SD Drive (DRIVE Connector) Step + (pin 1) Step + (pin 1) Step + (pin 1) Step + (pin 3) Step Return (pin 9)
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Page 18: End-Of-Travel And Home Limit Inputs
End-of-Travel and Home Limit Inputs N O T E S • Motion will not occur on a particular axis until you do one of the following: - Install end-of-travel ( & ) limit switches - Disable the limits with the LHØ command (recommended only if load is not coupled) - Change the active level of the limits with the LHLVL command •... -
Page 19: Encoders
Encoders CONNECTIONS & INTERNAL SCHEMATICS Internal Schematic ENCODER Connector Shield Shield Shield SHLD Black Black Ground Chassis GND Max. Cable Length is 100 feet. Z Channel – Orange/White (n/a) Z– Use 22 AWG wire. Z Channel + Orange Blue Same Circuit +1.8VDC B Channel –... -
Page 20: Joystick & Analog Inputs
Joystick & Analog Inputs C O N N E C T I O N S Joystick Feedrate Control (Using a Potentiometer) Joystick Joystick potentiometers are 5K Ω with 1KΩ Resistors 60 ° of usable travel adjusted to span 0 Ω to 1K Ω . X Axis Y Axis 1KΩ... -
Page 21: Trigger Inputs
Trigger Inputs TRG-x connected to GND (normally-open switches). The active level (default is active low) can be changed Internal Schematic with the INLVL command. These inputs are like the general-purpose inputs on the TRIGGERS 50-pin header. The differences are (1) the triggers are TRG-A pulled up via the AUX-P pull-up terminal;... -
Page 22: General-Purpose Programmable Inputs & Outputs
General-Purpose Programmable Inputs & Outputs VM50 ADAPTOR — for screw-terminal connections Color stripe (pin #1) Pin outs on the VM50 are identical to 2-Foot Cable the pin outs for the 50-pin connectors (provided with VM50) (only if the cable is connected as illustrated). - Page 23 INPUT CONNECTIONS — Connecting to electronic devices such as PLCs Connection to a Electronic AT6n00 Sinking Output Device D e v i c e ISO GND +5VDC Pulled up to +5V The output should IN-P (sourcing) be able to sink at least 1mA of current.
- Page 24 OUTPUT CONNECTIONS — for electronic devices such as PLCs Connection to a Sinking Input (active high) Connection to a Sourcing Input (active low) External Supply Electronic AT6n00 (up to 24VDC) External Supply – Device Electronic AT6n00 (up to 24VDC) – Device ISO GND ISO GND...
- Page 25 THUMBWHEEL CONNECTIONS — for entering BCD data Connection to the Compumotor TM8 Module TM8 Thumbwheel Module +5 GND I5 I4 I3 I2 I1 O5 O4 O3 O2 O1 AUX Board Programmable Input #1 Programmable Input #2 Programmable Input #3 Programmable Input #4 Programmable Input #5 Pin #49 (+5VDC) Pin #48 (GND)
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Page 26: Input Power
Input Power 120VAC Input ( AT6200 & AT6400-120) 240VAC Input (AT6400-240) Grounded 240VAC Power Source Grounded 1. Remove the cover 120VAC on the EIA plug. Power Source 2. Strip your power cable as shown. User supplied 120VAC-Compatible power cable with 25mm 3. -
Page 27: Lengthening I/O Cables
Lengthening I/O Cables Bear in mind that lengthening cables increases noise sensitivity. (The maximum length of cables is ultimately determined by the environment in which the equipment will be used.) If you lengthen the cables, follow the precautions below to minimize noise problems. •... -
Page 28: Installation Test
DIP switch setting (default is 768 decimal), just press ENTER. If you changed the DIP switch (see page 4), type in the new address and press ENTER. The program displays this menu: Parker Compumotor's Motion and I/O Test Program 1. Limits 2. Pulse Cutoff (P-CUT) 3. -
Page 29: What's Next
What's Next? By now, you should have completed this chapter's configuration, mounting, connection, and test instructions. You should be ready to begin developing your motion control program based on the 6000 Series programming language. Assuming you have already determined your system's motion control requirements and identified the AT6n00 software features that you will use in your application, refer to your 6000 Series Programmer's Guide to learn how to implement these features. -
Page 30: Chapter 2. Troubleshooting
C H A P T E R T W O Troubleshooting IN THIS CHAPTER • Troubleshooting basics: Reducing electrical noise Diagnostic LEDs Test program Motion Architect Test Panel Technical support • Solutions to common problems • Corrective actions in response to operating system download errors •... -
Page 31: 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 32: Motion Architect's Panel Module
Motion Architect's Panel Module As an alternative to the test program noted above, you can use the Panel Module in Motion Architect. The Panel Module allows you to set up displays for the purpose of testing various system I/O and operating parameters. Technical Support If you cannot solve your system problems using this documentation, contact your local Automation Technology Center (ATC) or distributor for assistance. - Page 33 Common Problems and Solutions (continued) Problem C a u s e Solution Joystick mode: Motor 1. Joystick Release input not grounded. 1. Ground Joystick Release input. does not move. 2. Improper wiring. 2. Check wiring for opens, shorts, and mis-wired connections. LEDs: LED next to the 1.
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Page 34: Interrupt & Address Selection
Interrupt & Address Selection CAUTION Refer to your PC-AT's documentation to avoid interrupt and address conflicts, and the resulting possibility of system damage. If you are using Motion Architect and you change these settings, be sure to configure the same address and interrupt settings in Motion Architect's Terminal or Panel modules. Interrupts The AT6n00 is factory configured with no interrupts selected. -
Page 35: Product Return Procedure
Downloading Errors (continued) Error Description Reason/Corrective Action Time-out Waiting for Processor The card did not respond as expected. The green LED on the back of the PC-card should be Startup on for this error to occur. Verify that you are downloading to the correct address. Make sure there are no other peripheral cards (network adapters, bus mouse, etc.) at the same address. -
Page 36: Appendix A: Ce Installation Guide
Environmental Conditions or out of, the system. The recommended components are produced by Parker Pollution Degree: The AT6n00 is designed for Chomerics (617-935-4850) and are suitable for use with pollution degree 2 of the LVD. - Page 37 Handling & Installing Ferrite Absorbers screw and lock washer. The use of brass or other inert conductive metal P-clip is recommended. Cover any Take care when handling the absorbers—they can shatter if exposed bare metal with petroleum jelly to resist dropped on a hard surface.
- Page 38 Do not interrupt the protective earth conductor between the source mains and the isolation transformer’s secondary. The core of the isolation transformer and the drive’s protective conductor terminal must both be connected to the mains protective earth conductor. CAUTION — For safety reasons, do not use an autotransformer.
- Page 39 1. Mount the Auxiliary Box to the surface of the No connection is made to the cable screen at the Auxiliary enclosure. Cover any exposed bare metal with Box itself. Fit a ferrite absorber close to the I/O connector petroleum jelly to resist corrosion. and run the cable down to the mounting panel as shown in Figure 5.
- Page 40 Symbol Description Table of Graphic Symbols & Earth Terminal Warnings The following symbols may appear in this manual, and Protective Conductor Terminal may be affixed to the products discussed in this manual. Frame or ChassisTerminal Equipotentiality Caution, Risk of Electric Shock Caution, Refer to Accompanying Text Hot Surface Recycle Battery...
- Page 41 AC Input Cable System Earth Point AC Input Filter High-density Braided-screen Cable from AT6n00 Braided-screen Cables Ferrite absorber Limits Cable VM50 o t o Ribbon Encoder Cable Cable Drive Cable Triggers Cable Auxiliary Cable Braided-screen Cables Figure 5b. EMC connections for AT6n00 AUX box within the System Enclosure AT6200/AT6400 Installation Guide Artisan Scientific - Quality Instrumentation ...
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Page 42: Index
I N D E X 16-bit transfer mode 4 turn off before installing cards 5 edge connector, PC card 5 8-bit transfer mode 4 conduit 2, 20 electric codes i configuration–DIP switches (address, electrical noise interrupts, transfer mode) 4 CE installation guidelines 29 connections suppressing 20 AC input power connections &... - Page 43 status commands (see also test on end-of-travel limits 11 performance specifications 3 general-purpose programmable 15 pin outs see also back cover of manual page 20) problems 26 drive connector 9 axis (see TAS command) home limit 11 encoder connector 12 joystick analog input voltage (see input pull-ups (IN-P &...
- Page 44 AT6200 & AT6400 Indexers Automation Connections See also pages 7-20 I/O SPECIFICATIONS AND INTERNAL SCHEMATICS Power Input: AT6200 AC AUX Board....90-264VAC, 50/60 Hz, 0.75A @ 240VAC, single-phase. AT6400 120V AUX Board..90-132VAC, 50/60 Hz, 1.5A @ 120VAC, single-phase. CONNECTOR TO MAIN BOARD AC INPUT AT6400 240V AUX Board..90-264VAC, 50/60 Hz, 0.75A @ 240VAC, single-phase.