General Specifications - Parker Compumotor AT6200 Installation Manual

General Specifications

P a r a m e t e r
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
AT6400-120V AUX Board (AC or DC input).......... 90-132VAC, 50/60Hz, 1.5A @120VAC, single-phase; or connect an external power source
AT6400-240V AUX Board (AC or DC input).......... 90-264VAC, 50/60Hz, 0.75A @ 240VAC, single-phase; or connect an external power
AT6n00-DC AUX Board ......................................... +5VDC (±5%) @ 1.6A
Status LEDs/fault detection...................................... Refer to Status LEDs in Chapter 2
Environmental
Operating Temperature .......................................... 32-122°F (0-50°C)
Storage Temperature............................................... -22-185°F (-30-85°C)
Humidity ................................................................... 0-95% non-condensing
Performance
Position Range ......................................................... ±2,147,483,648 steps
Velocity Range ......................................................... 1-1,600,000 steps/sec
Acceleration Range.................................................. 1-24,999,975 steps/sec
Stepping Accuracy ................................................... ±0 steps from preset total
Velocity Accuracy ................................................... ±0.02% of maximum rate
Velocity Repeatability ............................................. ±0.02% of set rate
Motion Algorithm Update Rate................................ 2 ms
Calculation to determine contouring deviation from an arc
(due to straight-line approximation to a curve):
Inputs
Home, POS/NEG Limits, Trigger, P-CUT ............ HCMOS compatible*; internal 6.8 KΩ pull-ups to AUX-P terminal (wired at factory to +5V);
Joystick inputs: Axes Select, Velocity Select, ...... HCMOS-compatible*; internal 6.8 KΩ pull-ups to 5V; voltage range is 0-24V.
Trigger, Release, & Auxiliary
Drive Fault and In-Position...................................... HCMOS-compatible*; internal 1.0 KΩ pull-up to 5V; voltage range is 0-5V.
Analog (joystick connector)..................................... Voltage range = 0-2.5VDC, 8-bit A/D converter.
Encoder..................................................................... Differential comparator accepts two-phase quadrature incremental encoders with
24 General-Purpose Programmable ..................... HCMOS compatible* with internal 6.8 KΩ pull-ups to IN-P terminal (wired to +5V terminal
Outputs
24 General-Purpose Programmable ...................... Open collector output with 4.7 KΩ pull-ups. Can be pulled up by connecting OUT-P to +5V,
Step, Direction, Shutdown ....................................... Differential line driver output. Signal high ≥ 3.5VDC @ +30mA, signal low ≤ 1.0VDC @
+5V Output................................................................ +5V terminals are available on the
* HCMOS-compatible switching voltage levels: Low ≤ 1.00V, High ≥ 3.25V.
TTL-compatible switching voltage levels: Low ≤ 0.4V, High ≥ 2.4V.
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S p e c i f i c a t i o n
source (5VDC ±5% @ 1.6A) to a +5V terminal on the
(5VDC ±5% @ 1.6A) to a +5V terminal on the
source (5VDC ±5% @ 1.6A) to a +5V terminal on the
2
t
V p ∗
2
( )
2
Error in steps =
r
Where: V p = steps/sec, r = radius in steps, t = system update period (2 msec)
ALL INPUTS ARE OPTICALLY ISOLATED
voltage range is 0-24V.
Input voltage must not exceed 5V.
differential (recommended) or single-ended outputs.
Maximum voltage = 5VDC. Switching levels (TTL-compatible): Low ≤ 0.4V, High ≥ 2.4V.
Maximum frequency = 1.6 MHz. Minimum time between transitions = 625 ns.
at factory). Voltage range = 0-24V. 50-pin plug is compatible with OPTO-22™ signal
conditioning equipment.
ALL OUTPUTS ARE OPTICALLY ISOLATED
or to user-supplied voltage of up to 24V. Max. voltage in the OFF state (not sinking
current) = 24V, max. current in the ON state (sinking) = 30mA. 50-pin plug is compatible
with OPTO-22™ signal conditioning equipment.
-30mA. for each differential driver is active high;
+output
low. Step pulse width range is 0.3 µs to 20 µs (depends on the value of the PULSE
command—default is 0.3 µs).
load for all I/O connections): 1.5A for the AT6400-120, 1.0A for the AT6400-240 and the
AT6200 AC version. Load limit for the DC versions of the AUX boards depends on your
external +5V power supply.
connector
AUXILIARY
connector
AUXILIARY
connector
AUXILIARY
for each driver is active
-output
and connectors. Load limit (total
ENCODER AUXILIARY
Chapter 1. Installation 3